CN110870804A

CN110870804A - Skin in-situ printing equipment

Info

Publication number: CN110870804A
Application number: CN201811027027.4A
Authority: CN
Inventors: 魏立安; 葛红
Original assignee: Shanghai Three Titanium Biotechnology Co Ltd
Current assignee: Shanghai Three Titanium Biotechnology Co Ltd
Priority date: 2018-09-04
Filing date: 2018-09-04
Publication date: 2020-03-10

Abstract

The invention provides a skin in-situ printing device for applying biogel and cross-linking agent to a predetermined site of a patient, which is characterized by comprising: a platform device for carrying and rotating a patient; a printing head device for coating the biological glue and the cross-linking agent on a predetermined position, and having a bracket unit and a nozzle unit arranged on the bracket unit; the coating power device is used for providing power for extruding the biogum and the cross-linking agent out of the spray head unit during coating; the three-axis type moving device is used for driving the printing head device to move to a preset position; and the control device is used for controlling the devices, wherein the spray head unit is provided with a first spray head assembly comprising a first barrel and a first needle head and a second spray head assembly comprising a second barrel and a second needle head, the second barrel and the second needle head respectively surround the first barrel and the first needle head and are provided with a first gap and a second gap, the first gap is communicated with the second gap, and the lower end of the second needle head is lower than the lower end of the first needle head.

Description

Skin in-situ printing equipment

Technical Field

The invention belongs to the field of medical equipment, and relates to skin in-situ printing equipment.

Background

The skin defect refers to skin loss caused by burn, scald, mechanical injury, etc. If the damage depth of the skin defect part reaches the dermis and below, the human body can not be completely regenerated, but heals by the means of fibroblast growth and the like, and scar tissues are formed at the defect part after healing. The color and the shape of the scar tissue are greatly different from those of normal skin, and the scar tissue is extremely unattractive, so that psychological burden is easily brought to patients; moreover, scar tissue has poor elasticity, lacks pores, has poor air permeability and is easy to cause discomfort for patients. Therefore, skin should heal as normally as possible to avoid scar tissue when treating skin defects.

Clinically, the damaged part is usually repaired by stretching the skin around the damaged part or transplanting the skin at other parts. However, when the area of the deep defect is extremely large (for example, severe burns and scalds), the number of undamaged parts of the patient is not large, and the requirement for covering the defect cannot be met by the available normal skin, so that these methods cannot be applied. In the prior art, artificial skin therapy has been developed for such large-area skin defects, that is, artificial skin with capillary pores is prepared in advance from biopolymer materials, and such artificial skin is trimmed to the shape of a damaged portion and then covered on the damaged portion, thereby protecting subcutaneous tissues and accelerating healing. However, the artificial skin is often difficult to achieve a desired fit due to the irregular depth and shape of the defect, and the therapeutic effect is not satisfactory.

In order to overcome the above-mentioned drawbacks of artificial skin, the prior art has created the concept of printed skin. That is, the shape-adapted artificial skin is formed by directly coating a damaged part with a biopolymer material (such as biogel) containing skin layer cells. However, biogel does not have coagulability by itself and must be coagulated into artificial skin by the addition of a cross-linking agent. Meanwhile, the viscosity of the biogel is high, and the uniform mixing can be ensured by adopting means such as stirring. Therefore, in the prior art, it is common to coat with a biogel in which a crosslinking agent is mixed in advance. However, such a method requires that the coating speed must be very fast, otherwise the remaining bio-gum will solidify and cannot be coated further; alternatively, each time a small portion of the mixture of the cross-linking agent and the bio-gel is used for coating, multiple times of mixing and coating are required, which is not only excessively tedious and laborious, but also increases the risk of contamination of the skin layer cells in the bio-gel.

If the biogum and the crosslinking agent are coated separately, the biogum is exposed to light and air in advance, increasing the risk of contamination of skin layer cells in the biogum, and furthermore, the degree of mixing of the biogum and the crosslinking agent in the separate coating is difficult to grasp.

Therefore, how to achieve mixing and coating of the biogel and the cross-linking agent becomes a key to successful printing of skin, and the prior art does not solve the key problem well.

In addition, the prior art has difficulty in precisely controlling the direction of coating, and thus the printing accuracy is low.

In addition, the positions and angles of the damaged parts of the patient are different, and the spray head needs to keep a certain angle with the surface of the human body to ensure the coating effect, so that the patient needs to keep the actions of leaning, turning over or lying down and the like in order to match the coating angle as much as possible, on one hand, the actions cannot accurately meet the requirement of the coating angle, so that the coating accuracy is not high enough; on the other hand, the side-over or turning-over action of the patient is difficult to keep unchanged, and once the posture of the patient is changed, the coating accuracy is seriously influenced; if the patient is fixed after turning or leaning, and then the patient is coated, the posture of the patient can be kept unchanged, but the patient feels very difficult and is not beneficial to treatment.

Disclosure of Invention

The present invention has been made to solve the above problems, and an object of the present invention is to provide a skin in-situ printing apparatus.

The present invention provides a skin in-situ printing apparatus for applying biogel and cross-linking agent, which are printed to form artificial skin, to a predetermined site of a patient, having the characteristics comprising: a platform device for carrying and rotating a patient; a printing head device for coating the biological glue and the cross-linking agent at a predetermined position, and having a bracket unit and a nozzle unit which is arranged on the bracket unit and is used for containing and coating the biological glue and the cross-linking agent; the coating power device is used for providing power for extruding the biogum and the cross-linking agent out of the spray head unit when the biogum and the cross-linking agent are coated to the printing head device; the three-axis type moving device is used for driving the printing head device to move to a preset position; and a control device for controlling the stage device, the print head device, the coating power device, and the three-axis type moving device, so that the rotation action of the platform device, the coating action of the printing head device, the power supply action of the coating power device and the moving action of the three-axis type moving device are mutually matched to coat the biological glue and the cross-linking agent on the preset part of the patient, the sprayer unit is provided with a first sprayer assembly and a second sprayer assembly, the first sprayer assembly comprises a first barrel and a first needle head, the second sprayer assembly comprises a second barrel and a second needle head, the second barrel surrounds the outer side of the first barrel, a first gap is formed between the second barrel and the first barrel, the second needle head surrounds the outer side of the first needle head, a second gap is formed between the second needle head and the first needle head, the first gap is communicated with the second gap, and the lower end of the second needle head is lower than the lower end of the first needle head.

In the skin in-situ printing device provided by the invention, the skin in-situ printing device also has the following characteristics: wherein, the inner wall of the lower part of the second cylinder body is provided with a convex part.

In the skin in-situ printing device provided by the invention, the skin in-situ printing device also has the following characteristics: wherein, the edge of the lower end of the first needle head is serrated.

In the skin in-situ printing device provided by the invention, the skin in-situ printing device also has the following characteristics: wherein, the lower extreme of first syringe needle is the cecum, has a plurality of evenly distributed's play liquid hole on the lateral wall of first syringe needle.

In the skin in-situ printing device provided by the invention, the skin in-situ printing device also has the following characteristics: the coating power device is a pressure providing device and is used for providing pressure air for the first cylinder and the first gap, the nozzle unit further comprises a cylinder cover used for sealing the first cylinder and the second cylinder, and an air inlet is formed in the cylinder cover and is simultaneously communicated with the inner cavity of the first cylinder and the first gap and used for leading the pressure air serving as coating power into the inner cavity of the first cylinder and the first gap.

In the skin in-situ printing device provided by the invention, the skin in-situ printing device also has the following characteristics: the three-axis type moving device is provided with a fixing plate for fixing the printing head device, a plurality of fixing holes are formed in the fixing plate, the support unit comprises a connecting body and a support body which is connected with the connecting body and used for containing the spray head unit, the connecting body is provided with a connecting plate, a plurality of mounting holes are formed in the connecting plate, the mounting holes are used for enabling the connecting plate to be mounted on the fixing holes in different positions through bolts so that the support unit can be mounted on different clamping positions of the fixing plate, and the support body is a containing type support body or a clamping type support body.

In the skin in-situ printing device provided by the invention, the skin in-situ printing device also has the following characteristics: wherein, platform device includes: the base comprises a horizontal part, two vertical parts respectively arranged at two ends of the horizontal part and a mounting groove formed by the two vertical parts and the horizontal part, wherein mounting holes are formed in the inner surfaces of the upper ends of the two vertical parts; the bearing table is arranged in the mounting groove and used for bearing a patient, and is provided with a bottom plate with a plane upper surface and two triangular plates respectively fixed at two ends of the bottom plate, and fixing shafts for fixing in the mounting holes are arranged on the outer side surfaces of the two triangular plates; and the driving mechanism is used for driving the bearing table to swing around an axis formed by the two fixed shafts in the mounting groove, so that the movement of the preset part of the patient on the bearing table can be matched with the printing action of the printing head device.

In the skin in-situ printing device provided by the invention, the skin in-situ printing device also has the following characteristics: the driving mechanism comprises a stepping motor and a signal receiver electrically connected with the stepping motor, the stepping motor and the signal receiver are both arranged in the vertical part, and the signal receiver is used for receiving a driving signal from the control device, so that the stepping motor rotates under the driving of the driving signal.

In the skin in-situ printing device provided by the invention, the skin in-situ printing device also has the following characteristics: the three-axis type moving device comprises a supporting component, a first screw rod component, a second screw rod component and a third screw rod component, wherein the first screw rod component, the second screw rod component and the third screw rod component are arranged on the supporting component, the third screw rod component is provided with a third ball bearing portion, the third ball bearing portion is used for moving along the vertical direction to enable the printing head device to move along the vertical direction, the second screw rod component is used for driving the third screw rod component to move along the second horizontal direction to enable the printing head device to move along the second horizontal direction, the first screw rod component is used for driving the second screw rod component to move along the first horizontal direction to enable the third screw rod component and the printing head device to move along the first horizontal direction, and the first horizontal direction and the second horizontal direction are perpendicular to each other.

In the skin in-situ printing device provided by the invention, the skin in-situ printing device also has the following characteristics: the first lead screw assembly is arranged on the support assembly and is provided with a first lead screw extending along a first horizontal direction, a first ball bearing part installed on the first lead screw in a threaded connection mode and a first sliding rod arranged in parallel with the first lead screw; a second screw assembly having a second screw extending in a second horizontal direction, a slide groove connected to both ends of the second screw, and a second ball bearing portion provided in the slide groove and mounted on the second screw by screw-coupling, one end of the slide groove being provided with a second fixing portion penetrated by the first slide bar and the other end being fixed to the first ball bearing portion; and the third screw assembly is provided with a third screw extending along the vertical direction, a third ball bearing part installed on the third screw in a threaded combination manner, a third sliding rod arranged in parallel with the third screw and a third fixing part fixedly combined with the second ball bearing part and fixedly connected with the third screw and two ends of the third sliding rod.

Action and Effect of the invention

According to the skin in-situ printing apparatus of the present invention, since there are a stage device, a print head device, a coating power device and a three-axis moving device, the print head device is provided with a nozzle unit having a first nozzle assembly and a second nozzle assembly, the first nozzle assembly includes a first barrel and a first needle, the second nozzle assembly includes a second barrel and a second needle, the second barrel and the second needle surround the first barrel and the first needle, respectively, and the lower end of the second needle is lower than the lower end of the first needle, when coating is performed, a cross-linking agent (or bio-gel) can be contained and coated by the first nozzle assembly, a bio-gel (or cross-linking agent) can be contained and coated by the second nozzle assembly, and since the second barrel and the second needle surround the first barrel and the first needle, respectively, the lower end of the second needle is lower than the lower end of the first needle, this allows the cross-linking agent (or bio-gel) extruded from the first needle to be mixed with the bio-gel (or cross-linking agent) in the second needle, and then extruded from the second needle and applied to the damaged area.

Therefore, when coating, the whole printing head device only needs to be moved according to the set coating direction, and the biogum and the cross-linking agent which are extruded from the second needle head and mixed together can be coated on the damaged part and then quickly solidified to finally obtain the artificial skin with the adaptive shape and structure, thereby achieving good coating effect.

In addition, the coating power device can extrude the biogum and the cross-linking agent from the spray head unit so as to realize the coating of the biogum and the cross-linking agent, and the extrusion speed of the biogum and the cross-linking agent can be adjusted through the coating power device so as to be convenient for adjusting the coating speed.

In addition, the three-axis type moving device can move the support unit in three degrees of freedom in space, so that the support unit can accurately reach a preset position and be coated according to a preset coating mode, and further the coating effect is more accurate and the coating speed is higher.

In addition, the platform device can bear and rotate the patient to enable the movement of the preset part of the patient to be matched with the printing action of the printing head device, so that the coating precision of the printing head device is high. Because the platform device itself can rotate, so, when printing the patient only need lie flat or lie prostrate on the platform device can, even fix the patient this moment, the patient can not feel uncomfortable yet, has improved the comfort level of patient treatment process.

Drawings

FIG. 1 is a schematic diagram of a skin in-situ printing apparatus according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a printhead arrangement according to an embodiment of the invention;

FIG. 3 is a schematic structural view of a head unit according to an embodiment of the present invention;

FIG. 4 is a partially enlarged schematic view of a head unit in an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a stage assembly according to an embodiment of the present invention; and

fig. 6 is a schematic structural diagram of a carrier stage according to an embodiment of the invention.

Detailed Description

In order to make the technical means, the creation features, the achievement purposes and the effects of the invention easy to understand, the following embodiments are specifically described in the skin in-situ printing device of the invention with reference to the attached drawings.

< example >

Fig. 1 is a schematic structural diagram of a skin in-situ printing device in an embodiment of the invention.

As shown in fig. 1, the skin in-situ printing apparatus 100 comprises a three-axis moving device 10, a print head device 20, a coating power device (not shown), a platform device 30 and a control device (not shown).

Wherein the print head device 20 is used for

The bio-gel is coated on a predetermined portion, and the three-axis moving device 10 is used for driving the print head device 20 so as to move the print head device 20 to a predetermined portion where skin printing is required. The platform assembly 30 is used to carry a patient and to position the patient's damaged skin at a predetermined location for skin printing. The control device is used for controlling the three-axis moving device 10, the printing head device 20, the coating power device and the platform device 30, so that the moving action of the three-axis moving device 10, the coating action of the printing head device 20, the power providing action of the coating power device and the rotating action of the platform device 30 are matched with each other to coat the biological glue on the preset part of the patient.

As shown in fig. 1, the three-axis moving device 10 includes a first lead screw assembly 11, a second lead screw assembly 12, a third lead screw assembly 13, a supporting mechanism 14, and a plurality of driving motors (i.e., a first driving motor, a second driving motor, and a third driving motor, none of which is shown).

The support mechanism 14 includes a first support table 141 and a second support table 142. The first support table 141 extends in a first horizontal direction. The second supporting stage 142 and the first supporting stage 141 are disposed parallel to each other.

The first screw assembly 11 includes a first fixing portion 111, a first screw 112, a first ball bearing portion 113, and a first slide bar 114.

The first fixing portion 111 has an "Contraband" shape and is disposed on the top of the first supporting platform 141. Both sides of the first fixing portion 111 are provided with a convex rail extending along the first horizontal direction.

The first lead screw 112 extends along a first horizontal direction, and two ends of the first lead screw are respectively fixed to two ends of the first fixing portion 111.

The first ball bearing portion 113 is fitted around the first screw shaft 112, and an inner housing of the first ball bearing portion 113 is screwed to the first screw shaft 112, so that the first ball bearing portion 113 and the first screw shaft 112 constitute a ball screw assembly. The outer housing of the first ball bearing portion 113 is provided with a groove that matches the convex rail of the first fixing portion 111.

In this embodiment, one end of the first fixing portion 111 is provided with a first driving motor, and an output end of the first driving motor is connected to one end of the first lead screw 112. When the first drive motor outputs a drive force, the first lead screw 111 is rotated by the drive of the first drive motor.

The first slide bar 114 is fixed to the top of the second spreader 142 so that the first slide bar 114 cannot rotate nor move.

The second screw assembly 12 includes a slide groove 121, a second screw 122, and a second ball bearing portion 123.

The extending direction of the slide groove 121 is perpendicular to the first horizontal direction (hereinafter referred to as the second horizontal direction). One end of the sliding slot 121 is provided with a second fixing portion 124, the second fixing portion 124 is provided with a hole portion having an inner diameter corresponding to that of the first sliding rod 114, and the first sliding rod 114 passes through the hole portion so that the second fixing portion 124 is sleeved on the first sliding rod 114. The other end of the slide groove 121 is fixed to the outer housing of the first ball bearing portion 113.

Therefore, when the first drive motor drives the first screw 112 to rotate, the degree of freedom of movement of the slide groove 121 is restricted by the first slide bar 114, and is thereby moved integrally in the first horizontal direction by the driving action of the ball screw pair formed by the first screw 112 and the first ball bearing portion 113.

The second lead screw 122 extends in the second horizontal direction, and both ends thereof are fixedly coupled to both end portions of the slide groove 121 through rotary bearings, respectively.

The second ball bearing portion 123 has an inner housing and an outer housing that are relatively rotatable, similarly to the first roller bearing portion 113. The second ball bearing portion 123 is disposed in the slide groove 121, and an inner housing thereof is sleeved on the second screw shaft 121 by a screw thread combination, so that the second ball bearing portion 123 and the second screw shaft 122 constitute a ball screw pair structure. The outer housing of the second ball bearing portion 123 is protruded so that it is fitted into the slide groove 121.

In the present embodiment, the second driving motor is provided at the end of the slide groove 121 connected to the first ball bearing portion 113. Therefore, the second screw shaft 122 can integrally move in the first horizontal direction under the driving action of the first screw shaft 112 and the first ball bearing portion 113, and can also rotate under the driving action of the second driving motor, so as to drive the inner housing of the second ball bearing portion 122 to rotate.

The third screw assembly 13 includes a third fixing portion 131, a third screw 132, a third ball bearing portion 133, a third slide bar 134, and a fixing plate 135.

The third fixing portion 131 is shaped like "Contraband" and is disposed in the vertical direction, and the outer side wall thereof is fixedly connected to the housing of the second ball bearing portion 122. Accordingly, the sliding groove 121 limits the freedom of movement of the third fixing portion 131, so that the third fixing portion 131 moves in the second horizontal direction as a whole when the second driving motor drives the second screw shaft 122 to rotate and drives the inner housing of the second ball bearing portion 123 to rotate.

The third lead screw 132 extends in the vertical direction, and both ends thereof are mounted on the third fixing portion 131 through rolling bearings.

The third ball bearing portion 133 has a structure similar to that of the first ball bearing portion 113, and also has an outer housing and an inner housing that are relatively rotatable, and the inner housing is also fitted over the third screw shaft 132 by a screw coupling.

The third slide bar 134 is disposed at both sides of the third fixing portion 131. In the present embodiment, a groove matching the shape of the third slide bar 134 is further provided on a side surface of the outer housing of the third ball bearing portion 133 facing the third fixing portion 131.

A fixing plate 135 is provided on the side of the outer housing of the third ball bearing section 133 facing away from the third fixing section 131 for fixing the head device 20. The fixing plate 135 is provided with a plurality of fixing holes having different heights.

In this embodiment, a third driving motor is provided in the third fixing portion 131, and an output end thereof is connected to one end of the third lead screw 132. When the third screw 132 integrally moves along the second horizontal direction along with the third fixing portion 131 under the driving of the second driving motor, the second screw 122, the second ball bearing portion 123, etc., it can also rotate under the driving of the third driving motor to drive the third ball bearing portion 133 to move along the vertical direction.

In this embodiment, the first driving motor, the second driving motor and the third driving motor are all servo motors, and can rotate forward or backward along with different driving signals. Therefore, the ball screw pair formed by the first screw 112 and the first ball bearing portion 113 can perform the back-and-forth movement in the first horizontal direction, the ball screw pair formed by the second screw 122 and the second ball bearing portion 123 can perform the back-and-forth movement in the second horizontal direction, and the ball screw pair formed by the third screw 132 and the third ball bearing portion 133 can perform the back-and-forth movement in the vertical direction. Therefore, the three-axis type moving device 10 of the present embodiment can realize the movement with three degrees of freedom.

As shown in fig. 2, the print head device 20 includes a holder unit 21 and a head unit 22.

The holder unit 21 includes a holder body 211, a connecting body 212, and a rotating assembly (not shown).

The stent body 211 is a receiving stent body in this embodiment. The holder body 211 has a rectangular parallelepiped shape and is provided with a receiving through-hole (not shown) in a vertical direction for mounting the head unit 22. In order to be able to well grip the head unit 22, a plurality of protruding rubber gaskets are further provided on the inner sidewalls of the receiving through-holes.

The connecting body 212 includes a cross plate 2121 and a connecting plate 2122.

The rotating assembly includes a rotating driving motor disposed in the transverse plate 2121 and a rotating part connected to an output end of the rotating driving motor, and the rotating part extends out of the transverse plate 2121 and is not fixedly connected to the bracket body 211, so that the rotating driving motor can rotate to rotate the bracket body 211 relative to the transverse plate 2121.

The connecting plate 2122 is vertically connected to an end of the cross plate 2121 away from the rotating portion. The connecting plate 2122 is provided with a plurality of mounting holes for mounting the connecting plate 2122 to fixing holes at different positions by bolts so that the holder unit 21 is mounted to the fixing plate 135 of the three-axis moving device 10 at different positions. Therefore, the holder unit 21 can realize three-degree-of-freedom movement with the three-axis moving device 10.

Fig. 3 is a schematic structural view of a head unit in an embodiment of the present invention.

Fig. 4 is a partially enlarged schematic view of a head unit in an embodiment of the present invention.

As shown in fig. 3 and 4, the head unit 22 includes a first head assembly 221, a second head assembly 222, and a cartridge cover 223.

The first nozzle assembly 221 for receiving and applying a cross-linking agent includes a first barrel 2211 and a first needle 2212.

The first cylinder 2211 may have various shapes such as a cylindrical shape and a rectangular parallelepiped shape. In this embodiment, the first cylinder 2211 has a cylindrical shape and contains a cross-linking agent.

The first needle 2212 is disposed at the lower end of the first cylinder 2211. The first needle 2212 is in communication with the interior cavity of the first barrel 2211 such that the crosslinking agent contained in the interior cavity of the first barrel 2211 can be expressed through the first needle 2212. The first needle 2212 extends in a vertical direction, and a liquid outlet for extruding the crosslinking agent is formed at the lower end thereof. In order to make the flow direction of the extruded cross-linking agent more complicated, it is preferable that the edge of the lower end of the first needle 2212 is provided in a zigzag shape.

Second spray head assembly 222 includes a second barrel 2221 and a second needle 2222. The second showerhead assembly 222 in this embodiment is used to contain and apply a bio-gel or bio-gel composition.

The second cylinder 2221 surrounds the outside of the first cylinder 2211, and forms a first gap 2221a for receiving the bio-gel with the first cylinder 2211. The second cylindrical body 2221 may have various shapes such as a cylindrical shape and a rectangular parallelepiped shape. In this embodiment, the second cylinder 2221 has a cylindrical shape. The outer diameter of second barrel 2221 and the internal diameter that holds the through-hole suit, consequently can be placed in holding the through-hole and closely block in holding the through-hole because of the effect of rubber gasket for second barrel 2221 is difficult to the slippage when holding the through-hole and rotating.

Second needle 2222 is disposed at the lower end of second barrel 2221 and surrounds the outside of first needle 2212. Second needle 2222 and first needle 2212 have second gap 2222a therebetween, and second gap 2222a communicates with first gap 2221 a. The second needle 2222 extends in the vertical direction, and the lower end thereof is a liquid outlet thereof. The lower end of the second needle 2222 is lower than the lower end of the first needle 2212, so that the cross-linking agent extruded from the lower end of the first needle 2212 can be mixed with the bio-gel in the second needle 2222 and then extruded from the lower end of the second needle 2222.

In this embodiment, in order to obtain a better mixing effect, the inner diameter of the second cylinder 2221 is 1.5 to 3 times of the inner diameter of the first needle. A projection is provided on the inner wall of the lower portion of the second cylinder 2221. In this embodiment, the protrusion is a screw structure that rises spirally.

The number of the cartridge cover 223 is one. The shape and size of the cartridge cover 223 matches the shape and size of the outer surface of the second cartridge 2221. In this embodiment, the cover 223 is in the shape of a circular cover, and the cover 223 is screwed (or sleeved) on the upper end of the second cylinder 2221 to close the first cylinder 2211 and the second cylinder 2221. The cylinder cover 223 is provided with an air inlet 2231, and the air inlet 2231 is simultaneously communicated with the inner cavity of the first cylinder 2211 and the first gap 2221 a. In order to improve the sealing performance, a gasket (not shown) is further provided on the inner side of the cylinder cover 223.

In this embodiment, the coating power unit is a power supply unit powered by pressurized air, including a gas reservoir, a pressure regulator, and an air filter (none shown).

The gas storage is used for providing pressure air, and can be a compressed air tank or other compressed air storage components; the pressure regulator is an electromagnetic regulating valve arranged on a pressure air outlet of the gas storage device and is used for regulating the flow of pressure air provided by the gas storage device so as to regulate the pressure; the air filter is respectively connected to the pressure regulator and the air inlet 2231 through a conduit, and is configured to filter the pressure-regulated air and deliver the filtered air to the first cylinder 2211 and the first gap 2221a through the air inlet 2231. The air inlet 2231 is provided with a closing clip for closing the air inlet 2231 when the head unit 22 does not require pressurized air.

Fig. 5 is a schematic structural diagram of a stage apparatus according to an embodiment of the present invention.

As shown in fig. 5, the stage device 30 includes: a base 31, a carrying platform 32, a driving mechanism 33, a pair of clamping parts (not shown), a fixing component 35, a pair of adjusting groove parts (not shown) and two baffles 37.

The base 31 is placed on the ground and includes a horizontal portion 311 and two vertical portions 312. The horizontal portion 311 is horizontally placed on the ground.

The two vertical portions 312 are respectively disposed at two ends of the horizontal portion 311 along a direction perpendicular to the horizontal portion 311, the height of the two vertical portions 312 is higher than that of the horizontal portion 311, and a mounting groove 313 is formed between the two vertical portions 312 and the horizontal portion 311.

The inner surfaces of the two vertical parts 312, which are higher than the top of the horizontal part 311, are provided with mounting holes, and two sides below the mounting holes are provided with a stopper (not shown).

As shown in fig. 6, the carrying table 32 is installed in the installation groove 313 for carrying the patient. Including a base plate 321, two gussets 322, and an air cushion buffer layer.

The upper surface of the bottom plate 321 is a plane for the patient to lie down. The length of the bottom plate 321 is 1.7-2.0 m, and the horizontal width of the two side edges is 40-70 cm. In this embodiment, the length of the bottom plate 321 is 1.9m, and the horizontal width of the two side edges is 36 cm.

Two triangular plates 322 are respectively disposed at both ends of the bottom plate 321 in a direction perpendicular to the bottom plate 321. The outer side surfaces of the two triangular plates 322 are provided with fixing shafts 323 at positions corresponding to the mounting holes of the vertical parts 312. The carrier table 32 is mounted in the mounting groove 313 by fixing the fixing shaft 323 in the mounting hole.

A latch 324 protruding outward is provided at a position just below the fixed shaft 323.

The cushion layer is laid on the base plate 321 for buffering the pressure between the patient and the base plate 321 when the patient lies on the base plate 321.

The driving mechanism 33 is used for driving the bearing table 32 to swing around the axis formed by the two fixed shafts 323 in the mounting groove 313, so that the movement of the wound skin of the patient lying on the bottom plate can be matched with the printing action of the printing head device 20, including a stepping motor, an electronic handwheel and a signal receiver (not shown in the figure).

The stepping motor is disposed in the vertical portion 312 for driving the fixing shaft 323 of the platform 32 to rotate in the mounting hole, thereby driving the bottom plate 321 to rotate.

The output end of the electronic hand wheel is connected with the stepping motor, so that medical personnel can adjust the electronic hand wheel according to the printing requirement, and then drive signals for driving the stepping motor are sent to the stepping motor.

The signal receiver is disposed on the vertical portion 312 and connected to the stepping motor. The signal receiver is used for receiving a driving signal of the control device, so that the stepping motor starts to rotate under the driving of the driving signal to drive the bearing platform 32 to rotate.

In the rotating process, the fixture block 324 moves along with the rotation of the triangle 322, the limiting members at the two sides of the mounting hole limit the moving path of the fixture block 324, so that the swinging amplitude does not exceed two limiting members when the fixture block swings leftwards or rightwards, and the swinging angle of the plummer 32 does not exceed 50 degrees.

And each clamping seat part comprises two clamping seats 34, the two clamping seats 34 are arranged at the upper end of one side of the bottom plate 321, and the two clamping seats 34 in the other clamping seat part are symmetrically arranged at the upper end of the other side of the bottom plate 321. In this embodiment, the 4 card holders 34 are disposed at the head and tail ends of the base 321.

The fixing assembly 35 includes a fixing band 351, a buckle 352, and an adjusting buckle 353.

The fasteners 352 are disposed at two ends of the fixing belt 351, and are matched with the card seat 34 for use, and are fixed in the card seat under the fastening of the fastening member, so that the patient can be fixed on the base plate 321. When the fastening band 351 is unfastened, the elastic pressing member presses the engaging member to disengage the buckle 352 from the engaging member, thereby unfastening the fastening band 351 to allow the patient to leave the base plate.

The adjusting buckle 353 is arranged at the middle position of the fixing band 351 and used for adjusting the length of the fixing band 351 to adapt to patients with different body types.

And each adjusting groove portion comprises three adjusting grooves 36, the three adjusting grooves 36 are arranged in the middle of one side of the bottom plate 321 along the length direction of the bottom plate, and the three adjusting grooves 36 in the other adjusting groove portion are symmetrically arranged in the middle of the other side of the bottom plate 321. In the present embodiment, the interval between any two adjustment grooves 36 on the same side is 5 cm.

The two ends of the adjusting groove 36 are respectively provided with a positioning hole.

The length of the two baffle plates 37 is the same as that of the adjusting groove 36, and two ends of the lower end of each baffle plate 37 are respectively provided with a positioning pin 71 matched with the positioning hole. The usable width of the bottom plate 321 is defined by inserting two positioning pins 71 into positioning holes at both ends of the adjustment groove 36, thereby fixing two baffle plates 37 at both sides of the bottom plate 321, respectively. When patients with different body sizes are encountered, the baffle plate 37 can be detached, and the baffle plate 37 is moved inwards or outwards and fixed on the adjusting groove 36 on the inner side or the outer side according to the body sizes of the patients.

The control device in this embodiment is a computer (PC) equipped with a control program. The control program of the control device stores driving signals or instructions input by medical staff according to the printing requirements of patients. The control device is respectively in communication connection with the motor drivers of the driving motors or stepping motors corresponding to the three-axis type moving device 10, the printing head device 20, the power supply device and the platform device 30 so as to control the mutual cooperation among the above devices to complete the skin printing process of the patient.

The working principle of the skin in-situ printing device of the embodiment is described below with reference to the accompanying drawings.

Before printing on the skin, the medical staff can put the bio-gel solution and the cross-linking agent into the first gap 2221a of the first cylinder 2211 and the second cylinder 2221 respectively under the sterile environment, then cover the cylinder cover 223, turn on the air filter and adjust the pressure regulator to be closed, so that the pressure air can not enter the first cylinder 2211 and the first gap 2221 a. Then, the patient lies on the carrying platform 32 of the platform device 30 and is fixed on the carrying platform 32 by the fixing component 35, and the carrying platform is rotated to a predetermined angle by sending a control signal to the stepping motor of the platform device 30 through the control device, so that the skin injury part of the patient is in a predetermined position.

Then, the control device sends different control signals to the driving motors in the three-axis moving device 10, so that the three-axis moving device 10 drives the printing head device 20 to the predetermined defect position where skin printing is required.

After reaching the predetermined position, the rotating assembly is controlled to allow the second needle 2222 to approach the defect portion, and the pressure regulator is opened and adjusted to allow the pressurized air to enter the first cylinder 2211 and the first gap 2221a at a predetermined pressure, so that the cross-linking agent in the first cylinder 2211 and the bio-gel in the first gap 2221a are extruded out at the same time due to the pressure, the bio-gel and the cross-linking agent are mixed in the second needle 2222 and then coated on the predetermined portion, and then different control signals are sent to the driving motors in the three-axis moving device 10 through the control device, so that the three-axis moving device 10 drives the printing head device 20 to coat according to the set coating direction according to the set moving direction, thereby completing the coating of the entire predetermined portion and obtaining the printing skin with a proper shape.

In the above process, the control device controls the three-axis moving device 10, the printing head device 20, the platform device 30 and the pressure regulator, so that the nozzle unit 22 can extrude and coat the bio-gel solution and the cross-linking agent, and the bio-gel solution is rapidly coagulated to obtain the printed skin with a proper shape and a certain thickness and pattern.

Effects and effects of the embodiments

According to the skin in-situ printing apparatus of the present embodiment, since the apparatus comprises the platform device, the printing head device, the coating power device and the three-axis moving device, the printing head device is provided with the nozzle unit, the nozzle unit comprises the first nozzle assembly and the second nozzle assembly, the first nozzle assembly comprises the first cylinder and the first needle, the second nozzle assembly comprises the second cylinder and the second needle, the second cylinder and the second needle respectively surround the first cylinder and the first needle, the lower end of the second needle is lower than the lower end of the first needle, when coating is performed, the cross-linking agent (or bio-glue) can be contained and coated by the first nozzle assembly, the bio-glue (or cross-linking agent) can be contained and coated by the second nozzle assembly, and since the second cylinder and the second needle respectively surround the first cylinder and the first needle, the lower end of the second needle is lower than the lower end of the first needle, this allows the cross-linking agent (or bio-gel) extruded from the first needle to be mixed with the bio-gel (or cross-linking agent) in the second needle, and then extruded from the second needle and applied to the damaged area.

In the embodiment, the inner wall of the lower part of the second cylinder body is provided with the protruding part, the flowing state of the biogel and the cross-linking agent at the lower part of the second cylinder body is changed through the protruding part, so that the flowing state of the biogel and the flow state of the cross-linking agent at the lower part of the second cylinder body are more disordered, the biogel and the cross-linking agent are mixed more fully, and the mixing effect is better.

In the embodiment, the bulge part is spiral, the spiral bulge part can enable the biogel and the cross-linking agent in the second needle head to rotate during flowing, turbulence of the biogel and the cross-linking agent fluid is increased, and therefore the biogel and the cross-linking agent are mixed more fully and the mixing effect is better.

In an embodiment, the edge of the lower end of the first needle is arranged in a zigzag shape, so that the liquid (cross-linking agent) flowing out from the lower end of the first needle can flow to all directions, and can be mixed with the biological glue flowing in the first needle more fully.

In an embodiment, the inner diameter of the second cylinder is 1.5 to 3 times of the inner diameter of the first needle, such design enables the cross-linking agent extruded from the first needle and the biological glue extruded from the first gap of the second cylinder to be mixed in a contact manner with a proper area, and on the other hand, enables the cross-linking agent and the biological glue to be mixed in a proper proportion.

In an embodiment, the first cylinder and the second cylinder are closed by using a cylinder cover, and the air inlet on the cylinder cover is simultaneously communicated with the inner cavity of the first cylinder and the first gap, so that compressed air as coating power can be simultaneously introduced into the first cylinder and the first gap during coating, so that the cross-linking agent in the first cylinder and the biological glue in the first gap can be simultaneously extruded. When the extrusion speed of the biological glue or the cross-linking agent is required to be adjusted, the speed adjustment can be completed simultaneously only by adjusting the entering air pressure, so that the coating speed control can be synchronous and more accurate.

In an embodiment, the connecting body has a connecting plate provided with a plurality of mounting holes, so that the connecting plate can be mounted on fixing holes at different positions of a fixing plate of the printing head moving device by means of bolts through the mounting holes, thereby mounting the printing head device at an appropriate height of the fixing plate.

In the embodiment, the platform device comprises a base, a bearing table and a driving mechanism, so that in the printing process, a patient can lie on the bearing table and rotate for a certain angle along with the bearing table under the driving of the driving mechanism so as to reach a preset position, and then the platform device is matched with the printing head device.

In the embodiment, the driving mechanism comprises the stepping motor and the signal receiver, so that the stepping motor can drive the bearing table to rotate by sending a driving signal to the signal receiver through the control device, and the control mode is simple.

The three-axis type moving device in the embodiment is provided with three groups of lead screw assemblies, and the three groups of lead screw assemblies can respectively provide moving freedom degrees in three directions, so that the printing head device can realize three-freedom-degree movement in space, and the printing head device can integrally reach different preset printing positions.

The coating power device in the embodiment is a pressure providing device, so that the biogum and the cross-linking agent in the spray head unit can be extruded out under the pressure action of filtered clean compressed air to complete coating, the pressure and the flow rate can be controlled by controlling the pressure regulator in the process, and the coating speed is further controlled, so that the control process can be realized through an electric signal, the coating process of the biogum and the cross-linking agent is more easily matched with the movement of the spray head unit, and an ideal skin printing effect is achieved.

The above embodiments are preferred examples of the present invention, and are not intended to limit the scope of the present invention.

For example, in the embodiment, the first barrel is used for containing the cross-linking agent, the first gap is used for containing the biological glue, and the inner diameter of the second needle is 1.5-3 times of the inner diameter of the first needle. However, in the present invention, the first cylinder may be used to contain the bio-gel, and the second cylinder may be used to contain the cross-linking agent, in which case the dimensions of the second needle and the first needle should be adjusted according to the actual situation (mainly considering the contact area and ratio of the bio-gel and the cross-linking agent).

In the embodiment, the lower end of the first needle is the liquid outlet, and the edge of the lower end of the first needle is arranged in a sawtooth shape. However, in the present invention, the lower end of the first needle may be a blind end, and the sidewall of the first needle has a plurality of liquid outlet holes uniformly distributed, so that the cross-linking agent (or bio-gel) is extruded from the liquid outlet holes of the sidewall, and the flow direction of the extruded cross-linking agent (or bio-gel) is substantially perpendicular to the flow direction of the bio-gel (or cross-linking agent) in the second needle, so that a better mixing effect between the bio-gel and the cross-linking agent can be achieved.

In an embodiment, the inner wall of the lower part of the second cylinder body is provided with a spiral-shaped bulge, and the mixing of the biological glue and the cross-linking agent is better realized through the spiral-shaped bulge. However, in practical application, the protrusion may have other shapes as long as the disordered movement of the biogum and the cross-linking agent can be enhanced, for example, the protrusion may also be in the form of a convex point, i.e., a plurality of convex points are distributed on the inner wall of the second cylinder, and the blocking effect generated by the convex points can also increase the turbulence of the fluid of the biogum and the cross-linking agent, thereby achieving a better mixing effect. In addition, in order to simplify the structure and reduce the cost, the inner wall of the lower part of the second cylinder body can be a smooth inner wall (without a bulge).

The support body is a holding type support body and is provided with a holding through hole extending in the vertical direction. However, in the present invention, the holder body may also be a clip-type holder body, that is, the holder body includes two clips hinged to each other so as to hold the second cylinder. Meanwhile, the clamping support body can be provided with a rubber gasket, so that clamping is firmer. Compared with a through hole type bracket body, the clamping type bracket body slightly worse maintains the relative position, so that the accuracy of in-situ printing is slightly reduced, but the spray head unit is easier to fix and remove, so that the operation is simpler and quicker, and the clamping type bracket body is more suitable for acute and temporary in-situ skin printing.

In an embodiment, the holder unit includes a holder body, a connecting body, and a rotating assembly, and the holder body can rotate relative to the connecting body under the driving of a rotation driving motor of the rotating assembly, so that the nozzle unit can reach a predetermined position more accurately. However, in the present invention, in order to reduce the cost and simplify the operation steps, the bracket unit may only include the bracket body and the connecting body, which are fixedly connected, such that the structure is simpler and the operation is more convenient.

In one implementation, the three-axis type moving device realizes three-degree-of-freedom movement in space through three sets of screw assemblies, and the screw assemblies specifically realize movement of each degree of freedom through ball screw pairs formed between screws and ball bearings. However, in the present invention, the three-axis moving device may further implement three-degree-of-freedom spatial movement through three sets of guide rail roller assemblies, and the guide rail roller assemblies implement movement in each degree of freedom by forming a guide rail roller type structure through a guide rail, an engaging portion engaged with the guide rail, a roller disposed between the guide rail and the engaging portion, and a motor for driving the roller to roll.

In the embodiment, a three-axis moving device is adopted to move the support unit in three degrees of freedom in space. However, in the invention, a mechanical arm type moving device can be adopted, namely a plurality of mechanical arms are hinged and driven to turn by a steering engine, so that the moving device which is similar to the action of human arms can be used for moving the support unit.

In an embodiment, the support assembly is two support tables. However, in the present invention, the support assembly may be provided in other forms, such as a support frame, a support plate or a plurality of support columns provided on the ground, or a hanger suspended and fixed from above.

In an embodiment, the drive mechanism includes a stepper motor, and an electronic handwheel and signal receiver connected to the stepper motor. However, in the present invention, the driving mechanism may include only a stepping motor and an electronic handwheel, and may also include only a stepping motor and a signal receiver.

In the embodiment, the patient is fixed by buckling the buckles at the two ends of the fixing band in the clamping seat on the bottom plate. However, in the invention, the fixing band can be replaced by the elastic band and the clamping seat can be replaced by the fixing ring, and the patient can be fixed by binding the elastic band on the fixing ring.

In the embodiment, the printing head moving device adopts the pressure air provided by the pressure providing device as power, so that the biological adhesive in the spray head unit can be extruded under the pressure action of the filtered clean compressed air to complete coating, the pressure and the flow rate can be controlled through controlling the pressure regulator in the process, and the coating speed is further controlled, therefore, the control process can be realized through electric signals, the biological adhesive coating process is more easily matched with the movement of the spray head unit, and the ideal skin printing effect is achieved. However, in the present invention, the pressure providing device may also be in the form of mechanical pressing (for example, a plunger is disposed in the cylinder, and the plunger is controlled to press the biological glue), etc. Compared with the form of pressure air, the pressure control and the basic speed control of mechanical extrusion are realized by directly controlling the extrusion part, the control process is more accurate, but the cost is higher because a sensor is needed to monitor the pressure and the extrusion speed.

Claims

1. A skin in-situ printing apparatus for applying biogel and cross-linking agent, which are printed to form artificial skin, to a predetermined site of a patient, comprising:

a platform device for carrying and rotating the patient;

a printing head device for coating the biological glue and the cross-linking agent on the predetermined position, and having a bracket unit and a nozzle unit which is arranged on the bracket unit and is used for containing and coating the biological glue and the cross-linking agent;

a coating power device for providing power for extruding the biological glue and the cross-linking agent out of the spray head unit when the biological glue and the cross-linking agent are coated to the printing head device;

the three-axis type moving device is used for driving the printing head device to move to the preset position; and

a control means for controlling the platform means, the print head means, the coating power means, and the three-axis moving means such that the rotation action of the platform means, the coating action of the print head means, the powering action of the coating power means, and the moving action of the three-axis moving means cooperate with each other to coat the biogel and the crosslinking agent on the predetermined portion of the patient,

wherein the spray head unit is provided with a first spray head component and a second spray head component,

the first spray head assembly comprises a first barrel and a first needle,

the second spray head assembly comprises a second barrel and a second needle,

wherein the second cylinder surrounds the outer side of the first cylinder, a first gap is formed between the second cylinder and the first cylinder,

the second needle head is surrounded on the outer side of the first needle head, a second gap is arranged between the second needle head and the first needle head,

the first gap communicates with the second gap,

the lower end of the second needle is lower than the lower end of the first needle.

2. The skin in-situ printing device according to claim 1, wherein:

wherein, the inner wall of the lower part of the second cylinder body is provided with a convex part.

3. The skin in-situ printing device according to claim 1, wherein:

wherein the edge of the lower end of the first needle head is serrated.

4. The skin in-situ printing device according to claim 1, wherein:

the lower end of the first needle head is a blind end, and a plurality of liquid outlet holes which are uniformly distributed are formed in the side wall of the first needle head.

5. The skin in-situ printing device according to claim 1, wherein:

wherein the coating power device is a pressure providing device for providing pressure air to the first cylinder and the first gap,

the spray head unit further comprises a cylinder cover for sealing the first cylinder and the second cylinder,

the cylinder cover is provided with an air inlet which is simultaneously communicated with the inner cavity of the first cylinder and the first gap and is used for guiding the pressure air as coating power into the inner cavity of the first cylinder and the first gap.

6. The skin in-situ printing device according to claim 1, wherein:

wherein the three-axis moving device is provided with a fixing plate for fixing the printing head device, a plurality of fixing holes are arranged on the fixing plate,

the holder unit includes a connecting body and a holder body connected to the connecting body to receive the head unit,

the connecting body is provided with a connecting plate which is provided with a plurality of mounting holes, the mounting holes are used for mounting the connecting plate on the fixing holes at different positions through bolts so as to mount the bracket unit on different positions of the fixing plate,

the bracket body is an accommodating bracket body or a clamping bracket body.

7. The skin in-situ printing device according to claim 1, wherein:

wherein the platform device comprises:

the base comprises a horizontal part, two vertical parts respectively arranged at two ends of the horizontal part and a mounting groove formed by the two vertical parts and the horizontal part, wherein mounting holes are formed in the inner surfaces of the upper ends of the two vertical parts;

the bearing table is arranged in the mounting groove and used for bearing the patient, and is provided with a bottom plate with a plane upper surface and two triangular plates respectively fixed at two ends of the bottom plate, and fixing shafts for fixing in the mounting holes are arranged on the outer side surfaces of the two triangular plates; and

and the driving mechanism is used for driving the bearing table to swing around an axis formed by the two fixed shafts in the mounting groove, so that the movement of the preset part of the patient on the bearing table can be matched with the printing action of the printing head device.

8. The skin in-situ printing device according to claim 7, wherein:

wherein the driving mechanism comprises a stepping motor and a signal receiver electrically connected with the stepping motor,

the stepping motor and the signal receiver are both arranged in the vertical part,

the signal receiver is used for receiving a driving signal from the control device, so that the stepping motor rotates under the driving of the driving signal.

9. The skin in-situ printing device according to claim 1, wherein:

wherein the three-axis type moving device is provided with a supporting component and a first lead screw component, a second lead screw component and a third lead screw component which are arranged on the supporting component,

the third screw assembly having a third ball bearing portion for movement in a vertical direction to cause movement of the print head device in the vertical direction,

the second lead screw component is used for driving the third lead screw component to move along a second horizontal direction, so that the printing head device moves along the second horizontal direction,

the first lead screw component is used for driving the second lead screw component to move along a first horizontal direction, so that the third lead screw component and the printing head device move along the first horizontal direction,

the first horizontal direction and the second horizontal direction are perpendicular to each other.

10. The skin in-situ printing device according to claim 9, wherein:

the first lead screw assembly is arranged on the support assembly and is provided with a first lead screw extending along a first horizontal direction, a first ball bearing part installed on the first lead screw in a threaded connection mode and a first sliding rod arranged in parallel with the first lead screw;

a second screw assembly having a second screw extending in the second horizontal direction, a slide groove connected to both ends of the second screw, and a second ball bearing portion provided in the slide groove and attached to the second screw by screwing, one end of the slide groove being provided with a second fixing portion penetrated by the first slide bar, and the other end of the slide groove being fixed to the first ball bearing portion;

and a third screw assembly having a third screw extending in the vertical direction, a third ball bearing portion installed on the third screw by screw-coupling, a third slide rod arranged in parallel with the third screw, and a third fixing portion fixedly coupled to the second ball bearing portion and fixedly connected to both ends of the third screw and the third slide rod.