CN110870808A

CN110870808A - Skin in-situ printing mechanism

Info

Publication number: CN110870808A
Application number: CN201811027090.8A
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 mechanism, which is used for coating biogum and cross-linking agent which form artificial skin through printing on a preset part of a human body, and is characterized by comprising the following components: the printing head device is used for coating the biogum and the cross-linking agent at a preset position and is provided with a bracket unit and a nozzle unit which is arranged on the bracket unit and used for containing and coating the biogum 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 during coating; and a three-axis type moving device for driving the printing head device to move to a predetermined position, wherein the nozzle unit has a first nozzle assembly and a second nozzle assembly, the first nozzle assembly includes a first cylinder for containing the biological glue and a first needle for coating the biological glue, the second nozzle assembly includes a second cylinder for containing the cross-linking agent and a second needle for coating the cross-linking agent, and the first needle and the second needle are parallel to each other.

Description

Skin in-situ printing mechanism

Technical Field

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

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.

Therefore, how to realize the matching and connection between the biogel coating and the cross-linking agent coating becomes the key for successfully printing the skin, and the key problem cannot be well solved by the prior art.

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

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 mechanism.

The invention provides a skin in-situ printing mechanism, which is used for coating biogum and cross-linking agent which form artificial skin through printing on a preset part of a human body, and is characterized by comprising the following components: 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; and a three-axis type moving device for driving the printing head device to move to a predetermined position, wherein the nozzle unit has a first nozzle assembly for containing and coating the bio-adhesive and a second nozzle assembly for containing and coating the cross-linking agent, the first nozzle assembly includes a first cylinder for containing the bio-adhesive and a first needle for coating the bio-adhesive, the second nozzle assembly includes a second cylinder for containing the cross-linking agent and a second needle for coating the cross-linking agent, and the first needle and the second needle are parallel to each other.

In the skin in-situ printing mechanism provided by the invention, the skin in-situ printing mechanism can also have 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 second cylinder so as to extrude the biological glue in the first cylinder from the first needle and extrude the cross-linking agent in the second cylinder from the second needle, the nozzle unit further comprises a cylinder cover used for sealing the first cylinder and the second cylinder, and the cylinder cover is provided with an air inlet which is simultaneously communicated with the inner cavity of the first cylinder and the inner cavity of the second cylinder and is used for guiding the pressure air as the coating power into the inner cavity of the first cylinder and the inner cavity of the second cylinder.

In the skin in-situ printing mechanism provided by the invention, the skin in-situ printing mechanism can also have 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 mechanism provided by the invention, the skin in-situ printing mechanism can also have the following characteristics: wherein the inner diameter of the first needle is larger than that of the second needle.

In the skin in-situ printing mechanism provided by the invention, the skin in-situ printing mechanism can also have the following characteristics: wherein, the liquid outlet of the first needle head is lower than the liquid outlet of the second needle head.

In the skin in-situ printing mechanism provided by the invention, the skin in-situ printing mechanism can also have the following characteristics: wherein, the distance between the first needle head and the second needle head is 1 mm-10 mm.

In the skin in-situ printing mechanism provided by the invention, the skin in-situ printing mechanism can also have the following characteristics: the cross sections of the first cylinder and the second cylinder are both semicircular, so that the outer surfaces of the first cylinder and the second cylinder form a cylinder shape.

In the skin in-situ printing mechanism provided by the invention, the skin in-situ printing mechanism can also have 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 is perpendicular to the second horizontal direction.

In the skin in-situ printing mechanism provided by the invention, the skin in-situ printing mechanism can also have 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; the second screw rod assembly is provided with a second screw rod extending along a second horizontal direction, a sliding chute connected with two ends of the second screw rod, and a second ball bearing part arranged in the sliding chute and installed on the second screw rod in a threaded combination mode, wherein one end of the sliding chute is provided with a second fixing part sleeved on the first sliding rod, and the other end of the sliding chute is fixed on the first ball bearing part; 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.

In the skin in-situ printing mechanism provided by the invention, the skin in-situ printing mechanism can also have the following characteristics: the three-axis moving device is also provided with a first motor for driving the first lead screw to rotate, a second motor for driving the second lead screw to rotate and a third motor for driving the third lead screw to rotate.

Action and Effect of the invention

According to the skin in-situ printing mechanism of the invention, because the skin in-situ printing mechanism is provided with the printing head device, the coating power device and the three-axis type moving device, the printing head device is provided with the nozzle unit, the nozzle unit is provided with the first nozzle component and the second nozzle component, the first nozzle component comprises the first cylinder and the first needle, the second nozzle component comprises the second cylinder and the second needle, the first needle and the second needle are parallel to each other, the first cylinder and the second cylinder are integrally formed, therefore, when coating, the biological glue can be coated by the first spray head component, the cross-linking agent can be coated by the second spray head component, and the first needle head and the second needle head are parallel to each other so that the included angle between the second needle head and the preset part of the skin is always consistent with the included angle between the first needle head and the preset part of the skin, so that the biological glue drops extruded from the first needle and the cross-linking agent drops extruded from the second needle can be more easily mixed.

Therefore, when coating, the whole printing head device is moved according to the set coating direction, so that the coating state that the first needle head is coated in front and the second needle head is coated in back is formed in the coating direction, the cross-linking agent can be mixed with the biological glue at the damaged part at constant time intervals and then is quickly solidified, and finally the artificial skin with the adaptive shape and structure is obtained, and the good coating effect is achieved.

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.

Drawings

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

FIG. 2 is a schematic structural diagram of a printhead device according to a first embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a showerhead unit according to one embodiment of the present invention;

FIG. 4 is a partially enlarged schematic view of a head unit according to a first embodiment of the present invention;

FIG. 5 is a schematic diagram of the structure of a skin in-situ printing mechanism according to a second embodiment of the present invention; and

fig. 6 is a schematic structural diagram of a head unit according to a second embodiment of the present 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 with reference to the attached drawings.

< example one >

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

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

The printing head device 20 is used for coating the biological glue on the preset position, and the three-shaft type moving device 10 is used for driving the printing head device 20 so as to move the printing head device 20 to the preset position needing to print the skin.

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.

Fig. 2 is a schematic structural diagram of a printhead apparatus according to a first embodiment of the present invention.

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 diagram of a head unit according to a first embodiment of the present invention.

Fig. 4 is a partially enlarged schematic view of a head unit according to a first embodiment of the 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 the bio-gel includes a first cylinder 2211 and a first needle 2212.

The first cylinder 2211 may have various shapes such as a semi-cylindrical shape, a cylindrical shape, and a rectangular parallelepiped shape. In this embodiment, the first cylinder 2211 has a semi-cylindrical shape with a semi-circular cross section for accommodating bio-gel or bio-gel components.

The first needle 2212 is provided at a central position of a lower end of the first cylinder 2211. The first needle 2212 is in communication with the interior cavity of the first barrel 2211 so that the bio-gel or bio-gel composition contained in the interior cavity of the first barrel 2211 can be expelled through the first needle 2212. In order to make the extrusion of the bio gel smoother, the first needle 2212 is provided to extend in a vertical direction.

The second nozzle assembly 222 is used to contain and apply the cross-linking agent and includes a second barrel 2221 and a second needle 2222.

The second tubular body 2221 may have various shapes such as a semi-cylindrical shape, a cylindrical shape, and a rectangular parallelepiped shape. In this embodiment, the first cylinder 2211 has a semi-cylindrical shape with a semi-circular cross-section for containing the cross-linking agent. In this embodiment, the second cylinder 2221 and the first cylinder 2211 are connected together, and two semi-cylindrical cylinders are connected into a cylindrical structure, and the outer diameter of the cylindrical structure is adapted to the inner diameter of the accommodating through hole, so that the cylindrical structure can be placed in the accommodating through hole and tightly clamped in the accommodating through hole due to the action of the rubber gasket, so that the first cylinder 2211 and the second cylinder 2221 are not easy to slip when the accommodating through hole rotates. The second cylinder 2221 and the first cylinder 2211 are integrally formed, fixedly connected or detachably connected (for example, a clamping member is respectively disposed on the outer walls of the second cylinder 2221 and the first cylinder 2211, and the second cylinder 2221 and the first cylinder 2211 are connected by clamping between the clamping members).

The second needle 2222 is disposed at a central position of the lower end of the second barrel 2221. Second needle 2222 is in communication with the interior chamber of second barrel 2221 so that the crosslinking agent contained within the interior chamber of second barrel 2221 can be expressed through second needle 2222. The second needle 2222 is also arranged to extend in a vertical direction in order to facilitate the extrusion of the cross-linking agent and to better match the application of the bio-glue.

In this embodiment, in order to ensure that the first needle 2212 and the second needle 2222 are always kept in a parallel state in the using process, the first needle 2212 and the second needle 2222 may be fixedly connected (not shown in the figure) by a connecting member, for example, the first needle 2212 and the second needle 2222 are connected by two strip-shaped connecting members respectively arranged on the outer walls of the first needle 2212 and the second needle 2222, so that no matter how the rotation is performed or accidental collision occurs, the first needle 2212 and the second needle 2222 can be always parallel and the distance therebetween is constant.

In this embodiment, the distance between the first needle 2212 and the second needle 2222 is 1mm to 10 mm. The liquid outlet of the first needle 2212 is 0.05 mm-0.15 mm lower than the liquid outlet of the second needle 2222. The first needle 2212 has an inner diameter greater than the inner diameter of the second needle 2222.

The number of the cartridge cover 223 is one. The shape and size of the cartridge cover 223 match the shape and size of the outer surfaces of the first and

second cartridge bodies

2211 and 2221. In this embodiment, the cylinder cover 223 is a circular cylinder cover, and the cylinder cover 223 is screwed (or sleeved) on the upper ends of the first cylinder 2211 and the second cylinder 2221, so as 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 inner cavity of the second cylinder 2221. 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 device is a pressure providing device 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 communicated with the pressure regulator and the air inlet 2231 through a conduit, and is configured to filter the pressure-regulated air and deliver the filtered pressure air into the first cylinder 2211 and the second cylinder 2221 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.

The working principle of the skin in-situ printing mechanism 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 cylinder 2211 and the second cylinder 2221 respectively under the sterile environment, then cover the cylinder cover 223, switch 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 second cylinder 2221. Then, a control device (e.g., a computer connected to a motor driver for sending driving signals to the driving motors and the stepping motor and equipped with a control program) 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 a predetermined defect position where skin printing is required.

After reaching the predetermined position, the rotating assembly is controlled to allow the first needle 2212 of the first nozzle assembly 221 containing the bio-gel solution and the second needle 2222 of the second nozzle assembly 222 containing the cross-linking agent to approach the defect, while opening and adjusting the pressure regulator to allow the pressurized air to enter the first and

second cylinder bodies

2211 and 2212 at a predetermined pressure, so that the bio-gel solution in the first cylinder 2211 and the cross-linking agent in the second cylinder 2212 are simultaneously extruded out due to pressure, and are coated on predetermined portions through the corresponding first and

second needles

2212 and 2222, 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 coat according to the set coating direction according to the set moving direction, and the coating of the whole preset part is completed to obtain the printing skin with the proper shape. In this coating process, the cross-linking agent is actually coated on the bio-gel solution since the second needle is "completely following" the first needle 2212 for coating.

In the above process, the control device controls the three-axis moving device 10, the driving assembly, the rotating assembly 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.

Effect of the first embodiment

According to the skin in-situ printing mechanism of the embodiment, because the skin in-situ printing mechanism is provided with the printing head device, the coating power device and the three-axis type moving device, the printing head device is provided with the nozzle unit, the nozzle unit is provided with 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 first needle and the second needle are parallel to each other, the first cylinder and the second cylinder are integrally formed, therefore, when coating, the biological glue can be coated by the first spray head component, the cross-linking agent can be coated by the second spray head component, and the first needle head and the second needle head are parallel to each other so that the included angle between the second needle head and the preset part of the skin is always consistent with the included angle between the first needle head and the preset part of the skin, so that the biological glue drops extruded from the first needle and the cross-linking agent drops extruded from the second needle can be more easily mixed.

In the first embodiment, a cover is used to close the first cylinder and the second cylinder, and the air inlet on the cover is communicated with the inner cavity of the first cylinder and the inner cavity of the second cylinder at the same time, so that compressed air as coating power can be introduced into the first cylinder and the second cylinder at the same time during coating, so that the biogum in the first cylinder and the cross-linking agent in the second cylinder can be extruded out at the same time. 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 speed control during coating can be synchronous and more accurate.

In the first embodiment, the inner diameter of the first needle is larger than that of the second needle, and the design is such that under the push of the same amount of compressed air, the volume and the surface area of the biogel extruded from the first needle are both larger than those of the cross-linking agent extruded from the second needle, on one hand, the cross-linking agent droplets can contact and diffuse with the larger-area biogel droplets to achieve a good mixing effect, and on the other hand, the cross-linking agent can be mixed with the biogel at a proper ratio (for example, the volume of the cross-linking agent should be smaller than that of the biogel to prevent the amount of the biogel from being low and affecting the gelling performance).

In the first embodiment, the liquid outlet of the first needle is lower than the liquid outlet of the second needle, so that on one hand, the cross-linking agent droplets extruded from the second needle can be dropped on the surface of the bio-gel droplets dropped in advance, and the cross-linking agent droplets can be diffused into the bio-gel droplets with the largest contact area, thereby realizing better mixing effect; on the other hand, thereby avoid the liquid outlet of second syringe needle and biogel to take place the direct contact back and make the biogel take place to solidify and block up the liquid outlet of second syringe needle when the coating.

In the first embodiment, the distance between the first needle and the second needle is 1 mm-10 mm, so that the biological glue extruded from the first needle and the cross-linking agent extruded from the second needle can be well matched with each other to coat the printing skin with a proper shape.

In the first embodiment, the cross sections of the first cylinder and the second cylinder are both semicircular, and the outer surfaces of the first cylinder and the second cylinder are formed into cylindrical shapes, so that the first cylinder and the second cylinder can be fixed by the bracket body relatively easily and can also be closed by one cylinder cover relatively easily.

In the first embodiment, the connection body has a connection plate provided with a plurality of mounting holes, so that the connection 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.

The three-axis moving device in the first embodiment has three sets of lead screw assemblies, and the three sets of lead screw assemblies can respectively provide three degrees of freedom of movement in three directions, so that the printing head device can realize three degrees of freedom of movement in space, and the printing head device can integrally reach different preset printing positions.

The coating power device in the first 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 matched with the movement of the spray head unit more easily, 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 first embodiment, the first needle is disposed at the center of the lower end of the first barrel, and the second needle is disposed at the center of the lower end of the second barrel. However, in the invention, the first needle can also be arranged at the non-central position of the lower end of the first cylinder, and the second needle can also be arranged at the non-central position of the lower end of the second cylinder, so that the actual coating requirement can be met only by the distance between the first needle and the second needle.

In the first embodiment, the bracket body is a holding type bracket 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 first cylinder and 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 the first 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 the 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 first embodiment, a three-axis moving device is used 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 one embodiment, the support assembly includes 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 the first embodiment, the pressure providing device is powered by pressure air, so that the biogum in the spray head unit can be extruded under the pressure action of filtered clean compressed air to complete coating, the pressure and flow rate can be controlled by controlling the pressure regulator in the process of the biogum, and the coating speed is further controlled, so that the control process can be realized through an electric signal, the biogum coating process is matched with the movement of the spray head unit more easily, and an 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.

< example two >

Fig. 5 is a schematic diagram of the structure of the skin in-situ printing mechanism in the second embodiment of the invention.

As shown in fig. 5, the skin in-situ printing mechanism 200 in the present embodiment includes a three-axis moving device (not shown), a print head device 201, and a coating power device (not shown).

The three-axis moving device and the coating power device in the present embodiment have the same structure as the three-axis moving device 10 and the coating power device in the first embodiment.

The print head device 201 in the present embodiment includes a holder unit 202 and a head unit 203.

The structure of the holder unit 202 is identical to that of the holder unit 21 in the first embodiment. That is, the print head device 201 in the present embodiment is different from the print head device 20 in the first embodiment in the structure of the head unit.

The head unit 203 in this embodiment will be described in detail below.

As shown in FIG. 6, the showerhead unit 203 includes a first showerhead assembly 204 and a second showerhead assembly 205.

The first nozzle assembly 204 is used for containing and coating the bio-glue and includes a first cylinder 204a, a first needle 204b and a first cylinder cover 204 c.

The first cylindrical body 204a may have various shapes such as a semi-cylindrical shape, a cylindrical shape, and a rectangular parallelepiped shape. In this embodiment, the first cylinder 204a has a semi-cylindrical shape with a semi-circular cross section for accommodating the bio-gel or bio-gel component.

The first needle 204b is provided at a central position of the lower end of the first barrel 204 a. The first needle 204b is in communication with the interior of the first barrel 204a, such that the biogum or biogum components contained within the interior of the first barrel 204a can be expelled through the first needle 204 b. In order to make the extrusion of the bio gel smoother, the first needle 204b is provided to extend in a vertical direction.

A first cylinder cover 204c is mounted on the upper end of the first cylinder 204a for closing the first cylinder 204 a. The first cylinder cover 204c is provided with a first air inlet 204d, and compressed air as coating power can be introduced into the inner cavity of the first cylinder 204a through the first air inlet 204 d. In order to improve the sealing performance, a gasket (not shown) is further provided on the inner side of the first cylinder cover 204 c. A closure clip is provided on first air inlet 204d for closing first air inlet 204d when pressurized air is not required by first showerhead assembly 204.

The second nozzle assembly 205 is used to contain and apply the crosslinking agent and includes a second barrel 205a, a second needle 205b, and a second barrel cap 205 c.

The second cylindrical body 205a may have various shapes such as a semi-cylindrical shape, a cylindrical shape, and a rectangular parallelepiped shape. In this embodiment, the first cylinder 205a and the second cylinder 205a are semi-cylindrical and have a semi-circular cross-section for containing the cross-linking agent. In this embodiment, the second cylinder 205a and the first cylinder 204a are connected together, and the second cylinder 205a and the first cylinder 204a are axially symmetrically distributed. The section of the main body part of the second cylinder 205a and the first cylinder 204a after being connected together is circular, and the outer diameter of the circular shape is adapted to the inner diameter of the accommodating through hole, so that the second cylinder 205a and the first cylinder 204a can be placed in the accommodating through hole of the bracket body and tightly clamped in the accommodating through hole due to the action of the rubber gasket. The second cylinder 205a and the first cylinder 204a are integrally formed or fixedly connected or detachably connected (e.g., snap-fit connection).

The second needle 205b is disposed at a central location of the lower end of the second barrel 205 a. The second needle 205b is in communication with the lumen of the second barrel 205a such that the crosslinking agent contained in the lumen of the second barrel 205a can be expelled through the second needle 205 b. The second needle 205b is also arranged to extend in a vertical direction in order to facilitate the extrusion of the cross-linking agent and to better match the application of the bio-glue.

In this embodiment, in order to ensure that the first needle 204b and the second needle 205b are always parallel to each other during the use process, the first needle 204b and the second needle 205b may be fixedly connected by a connecting member (not shown in the figure).

In the present embodiment, the distance between the first needle 204b and the second needle 205b is 1mm to 10 mm. The liquid outlet of the first needle 204b is 0.05 mm-0.15 mm lower than the liquid outlet of the second needle 205 b. The first needle 204b has an inner diameter larger than the inner diameter of said second needle 205 b.

A second cylinder cover 205c is mounted on the upper end of the second cylinder 205a for closing the second cylinder 205 a. The second cylinder cover 205c is provided with a second air inlet 205d, and compressed air as coating power can be introduced into the inner cavity of the second cylinder 205a through the second air inlet 205 d. In order to improve the sealing performance, a gasket (not shown) is further provided on the inner side of the second cylinder cover 205 c. A closure clip is provided on second air inlet 205d to close second air inlet 205d when pressurized air is not required by second showerhead assembly 205.

In this embodiment, the first air inlet 204d and the second air inlet 205d are communicated with the conduit of the pressure providing device through a tee pipe, and then the connecting pipe is communicated with the pressure providing device, so that the filtered pressure air provided by the pressure providing device is respectively introduced into the first cylinder 204a and the second cylinder 205a through the connecting pipe, thereby simultaneously extruding the biogum and the cross-linking agent.

Effects and effects of example two

In the second embodiment, two covers are used to respectively seal the first cylinder and the second cylinder, and each of the two covers is provided with one air inlet, and the two air inlets are communicated through a connecting pipe, so that compressed air as coating power can be respectively introduced into the first cylinder and the second cylinder through the connecting pipes during coating, so that the biogum in the first cylinder and the cross-linking agent in the second cylinder can be simultaneously extruded. In addition, compressed air of different pressures may be introduced into the first cylinder and the second cylinder through different connection pipes, thereby controlling the extrusion and application operations of the biogum in the first cylinder and the crosslinking agent in the second cylinder, respectively.

In the second embodiment, the liquid outlet of the first needle is lower than the liquid outlet of the second needle, the distance between the first needle and the second needle is 1 mm-10 mm, the inner diameter of the first needle is larger than that of the second needle, the cross sections of the first barrel and the second barrel are both semicircular, and the first barrel and the second barrel are integrally formed.

For example, in the second embodiment, the first cylinder and the second cylinder are connected and integrally formed. However, in the present invention, the first cylinder and the second cylinder may be separately arranged, and at this time, if the bracket body is an accommodating bracket body, the bracket body has two accommodating through holes to accommodate the first cylinder and the second cylinder, respectively; if the bracket body is a clip-type bracket body, two clip-type bracket bodies are arranged to respectively clamp the first barrel body and the second barrel body.

In the second embodiment, the first needle is arranged at the center of the lower end of the first barrel, and the second needle is arranged at the center of the lower end of the second barrel. However, in the invention, the first needle can also be arranged at the non-central position of the lower end of the first cylinder, and the second needle can also be arranged at the non-central position of the lower end of the second cylinder, so that the actual coating requirement can be met only by the distance between the first needle and the second needle.

Claims

1. A skin in-situ printing mechanism for applying a biogel and a cross-linking agent, which are printed to form an artificial skin, to a predetermined portion of a human body, comprising:

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; and

three-axis moving means for driving the print head means to move to the predetermined position,

wherein the spray head unit has a first spray head assembly for receiving and coating the bio-gel and a second spray head assembly for receiving and coating the cross-linking agent,

the first spray head assembly comprises a first cylinder body for containing the biological glue and a first needle head for coating the biological glue,

the second spray head assembly comprises a second barrel for containing the cross-linking agent and a second needle for coating the cross-linking agent,

the first needle and the second needle are parallel to each other.

2. A skin in-situ printing mechanism 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 second cylinder so as to extrude the bio-gum in the first cylinder from the first needle and extrude the cross-linking agent in the second cylinder from the second needle,

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 communicated with the inner cavity of the first cylinder and the inner cavity of the second cylinder at the same time and used for guiding the pressure air serving as coating power into the inner cavity of the first cylinder and the inner cavity of the second cylinder.

3. A skin in-situ printing mechanism 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.

4. A skin in-situ printing mechanism according to claim 2, wherein:

wherein the inner diameter of the first needle is larger than the inner diameter of the second needle.

5. A skin in-situ printing mechanism according to claim 1, wherein:

wherein, the liquid outlet of the first needle head is lower than the liquid outlet of the second needle head.

6. A skin in-situ printing mechanism according to claim 1, wherein:

wherein the distance between the first needle head and the second needle head is 1 mm-10 mm.

7. A skin in-situ printing mechanism according to claim 2, wherein:

the cross sections of the first cylinder and the second cylinder are both semicircular, so that the outer surfaces of the first cylinder and the second cylinder form a cylinder shape.

8. A skin in-situ printing mechanism 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 the print head device to move 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.

9. A skin in-situ printing mechanism according to claim 8, 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;

the second screw rod assembly is provided with a second screw rod extending along the second horizontal direction, a sliding chute connected with two ends of the second screw rod, and a second ball bearing part arranged in the sliding chute and installed on the second screw rod in a threaded combination manner, wherein one end of the sliding chute is provided with a second fixing part sleeved on the first sliding rod, and the other end of the sliding chute is fixed on the first ball bearing part;

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.

10. A skin in-situ printing mechanism according to claim 9, wherein:

the three-axis moving device is also provided with a first motor for driving the first lead screw to rotate, a second motor for driving the second lead screw to rotate and a third motor for driving the third lead screw to rotate.