CN110870809A

CN110870809A - Skin in-situ printing mechanism

Info

Publication number: CN110870809A
Application number: CN201811027102.7A
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 biological glue for forming artificial skin by printing on a preset part of a human body, and is characterized by comprising the following components: a printing head device for coating the bio-gel on a predetermined position, having a holder unit and a plurality of nozzle units disposed on the holder unit for receiving and coating the bio-gel; the coating power device is used for providing power for extruding the biological glue out of the spray head unit when the biological glue is coated to the printing head device; and the three-axis type moving device is used for driving the printing head device to move to a preset position, wherein the bracket unit is arranged on the three-axis type moving device and is provided with a bracket body and a connecting body connected with the bracket body, the bracket body is provided with a plurality of accommodating through holes, and the spray head unit is used for accommodating and coating biological glue and comprises a barrel body for accommodating the biological glue, a needle head for coating the biological glue and a barrel cover arranged on the barrel body and used for sealing the barrel body.

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. Namely, the biopolymer material is directly coated on the damaged part to form the artificial skin with a shape adapted. However, such a forming method is very slow, and it is also difficult to precisely control the direction of coating, and thus the printing accuracy is also low. In addition, if the area of the damaged part is large, the area of the required printed skin is also large, and the existing coating form cannot meet the requirements of the precision and the speed of large-area coating at all.

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 characterized by comprising the following components: wherein, the bracket body and the connecting body are integrally formed.

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 support unit still includes runner assembly, and this runner assembly has rotation driving motor, rotates driving motor setting on the connector and output shaft and stake body coupling for the drive stake body rotates for the connector.

In the skin in-situ printing mechanism provided by the invention, the skin in-situ printing mechanism can also have the following characteristics: wherein, be equipped with a plurality of rubber gasket on the inner wall that holds the through-hole.

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.

In the skin in-situ printing mechanism provided by the invention, the skin in-situ printing mechanism can also have the following characteristics: the third ball bearing part is provided with a fixing plate for fixing the printing head device, the fixing plate is provided with a plurality of fixing holes, the connecting body is provided with a connecting plate, the connecting plate is provided with a plurality of mounting holes, and the mounting holes are used for enabling the connecting plate to be mounted on the fixing holes at different positions through bolts so that the printing head device can be mounted on different positions of the fixing plate.

In the skin in-situ printing mechanism provided by the invention, the skin in-situ printing mechanism can also have the following characteristics: the supporting assembly comprises two supporting tables, and the two supporting tables are used for supporting the first lead screw and the first sliding rod respectively.

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 coating power device is a pressure providing device which is provided with pressure by pressure air, and the coating power device is provided with a gas storage used for providing the pressure air, a pressure regulator used for regulating the pressure of the pressure air and an air filter used for filtering the pressure air.

Action and Effect of the invention

According to the skin in-situ printing mechanism provided by the invention, the printing head device, the coating power device and the three-axis type moving device are arranged, the printing head device is provided with the support unit and the plurality of nozzle units, the support body is provided with the plurality of accommodating through holes, so that the plurality of nozzle units can be arranged in the accommodating through holes and further arranged on the support body, on one hand, the plurality of nozzle units can simultaneously perform the action of coating biological glue, the coating speed is greatly increased, and the skin in-situ printing mechanism is particularly suitable for the condition that the area of a damaged part of a human body is larger; on the other hand, a plurality of shower nozzle units can also hold different biological glue solution or the different composition of biological glue solution to can realize the coating in proper order of different biological glue solution or the different composition of biological glue solution.

In addition, the coating power device can extrude the biological glue from the cylinder body of the spray head unit through the needle head so as to realize the coating of the biological glue, and the extrusion speed of the biological glue 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 diagram of a skin in-situ printing mechanism in an embodiment of the 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 connecting body in an embodiment of the present invention; and

fig. 4 is a schematic structural view of a head unit according to an 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.

FIG. 1 is a schematic structural 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 view of a print head device in an embodiment of the present invention.

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

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

The holder body 211 has a rectangular shape, and is provided with a plurality of receiving through-holes (not shown) in a vertical direction, for mounting the head unit 22. The plurality of receiving through-holes are arranged in a matrix. In the present embodiment, the number of the receiving through holes is 6, and the receiving through holes are arranged in 2 rows and 3 columns, and the positions of the receiving through holes in the two rows correspond one to one. In this embodiment, a plurality of protruding rubber gaskets are further arranged on the inner side wall of the accommodating through hole.

FIG. 3 is a schematic structural diagram of a connector according to an embodiment of the present invention.

As shown in FIG. 3, 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 horizontal plate 2121 and a rotating part 213 connected to an output end of the rotating driving motor, and the rotating part 213 extends out of the horizontal plate 2121 and is not fixedly connected to the bracket body 211, so that the rotating driving motor can rotate the bracket body 211 relative to the horizontal plate 2121.

The connecting plate 2122 is vertically connected to an end of the cross plate 2121 away from the rotating portion 213. 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.

As shown in fig. 4, the head unit 22 includes a barrel 221, a needle 222, and a barrel cover 223. In the present embodiment, the number of the head units 22 is 6.

The cartridge 221 is for containing bio-gum or bio-gum ingredients. The outer diameter of the cylinder 221 is adapted to the inner diameter of the receiving through hole, so that the cylinder can be placed in the receiving through hole and tightly clamped in the receiving through hole due to the effect of the rubber gasket, so that the cylinder 224 is not easy to slip when the receiving through hole rotates.

A cover 223 is detachably mounted on the top end of the cylinder 221, and the cover 223 is provided with an air inlet 2231 and a gasket (not shown) on the inside.

The needle 222 is disposed at the bottom end of the barrel 221 to communicate with the inside of the barrel 221, so that the bio-gel or bio-gel components contained inside the barrel 221 can be extruded through the needle 222, thereby completing the coating process.

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 pressure of the pressure air provided by the gas storage device; the air filter is respectively connected to the pressure regulator and the air inlet 2231 through a hose, and is configured to filter the pressure-regulated air and deliver the filtered air into the cylinder 221 through the air inlet 2231. In addition, since the number of the head units 22 of the present embodiment is 6, the clean air outlets of the air filters are also respectively communicated with the 6 air inlets 2231 through 6 hoses. Each air inlet 2231 is provided with a closing clip for closing the air inlet 2231 when the corresponding head unit 22 does not require pressurized air.

The operation principle of the skin in-situ printing mechanism 100 of the present embodiment is described below with reference to the drawings.

Before printing the skin, the medical personnel can place the bio-gel solution into the barrel 221 in a sterile environment, then cover the barrel cover 223, turn on the air filter and adjust the pressure regulator to a closed state, so that pressurized air cannot enter the barrel 221. 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 the predetermined position is reached, the rotating assembly is controlled to allow the needle 222 of the head unit 22 containing the predetermined bio gel solution to approach the defect site, and the pressure regulator is opened and adjusted to allow the pressurized air to enter the cartridge 221 at a predetermined pressure, so that the bio gel solution in the cartridge 221 is extruded by the pressure and coated on the predetermined site through the needle 222.

In the above process, the control device controls the three-axis type moving device 10, the driving assembly, the rotating assembly, and the pressure regulator, so that the plurality of nozzle units 22 can simultaneously extrude and coat the bio-gel solution. Therefore, the method is suitable for the rapid large-area coating and in-situ printing of a single biological glue solution. In addition, a plurality of nozzle units can also hold different biogel solutions or different components of the biogel solution, and the communication or the sealing of the air inlet 2231 can be controlled to realize the sequential rapid coating of different biogel solutions or different components of the biogel solution.

Effects and effects of the embodiments

According to the skin in-situ printing mechanism provided by the embodiment, the printing head device, the coating power device and the three-axis type moving device are arranged, the printing head device is provided with the support unit and the plurality of nozzle units, the support body is provided with the plurality of accommodating through holes, so that the plurality of nozzle units can be arranged in the accommodating through holes and further arranged on the support body, on one hand, the plurality of nozzle units can simultaneously perform the action of coating biological glue, the coating speed is greatly increased, and the skin in-situ printing mechanism is particularly suitable for the condition that the area of a damaged part of a human body is larger; on the other hand, a plurality of shower nozzle units can also hold different biological glue solution or the different composition of biological glue solution to can realize the coating in proper order of different biological glue solution or the different composition of biological glue solution.

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, the pressure providing device is powered by compressed 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 the flow rate can be controlled through controlling the pressure regulator in the process, the coating speed is further controlled, the control process can be realized through electric signals, the biogum coating process is matched with the movement of the spray head unit more easily, and an ideal skin printing effect is achieved.

In an embodiment, the connecting body has a connecting plate, and the connecting plate is 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 through the mounting holes in a bolt connection manner, and the printing head device is mounted at a proper height of the printing head moving device.

In the embodiment, the rotating assembly can enable the support body to rotate relative to the connecting body, and further can correspond to the skin defect part more accurately to achieve a better printing effect.

In the embodiment, the inside that holds the through-hole has the hole portion that holds of vertical extension, the barrel that should hold the hole portion and shower nozzle unit suits and be equipped with the rubber gasket on the inner wall, consequently can block the barrel well and let the barrel keep unanimous with the relative position who holds the through-hole, make and hold the through-hole and be driven by the connector and remove or when rotated by rotating assembly, the barrel and the syringe needle homoenergetic of shower nozzle unit can carry out corresponding removal, thereby can avoid shower nozzle unit and hold between the through-hole fixed bad displacement and the coating error problem that brings, improve the precision that the normal position printed.

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 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 head 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 implementation, the three-axis type moving device realizes three-degree-of-freedom movement in space through three groups of lead screw assemblies, and the lead screw assemblies specifically realize movement of each degree of freedom through ball screw pairs formed between lead 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 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 mechanism for applying a bio-gel, which forms an artificial skin by printing, to a predetermined portion of a human body, comprising:

a printing head device for coating the biological glue on the preset position, which is provided with a bracket unit and a plurality of nozzle units which are arranged on the bracket unit and used for containing and coating the biological glue;

the coating power device is used for providing power for extruding the biological adhesive out of the spray head unit when the biological adhesive is 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 bracket unit is arranged on the three-axis type mobile device and is provided with a bracket body and a connecting body connected with the bracket body, the bracket body is provided with a plurality of accommodating through holes,

the spray head unit is used for containing and coating the biological glue, and comprises a cylinder body used for containing the biological glue, a needle head used for coating the biological glue and a cylinder cover arranged on the cylinder body and used for sealing the cylinder body.

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

wherein, the bracket body and the connecting body are integrally formed.

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

wherein the holder unit further comprises a rotating assembly having a rotation driving motor,

the rotation driving motor is arranged on the connecting body, an output shaft of the rotation driving motor is connected with the support body, and the rotation driving motor is used for driving the support body to rotate relative to the connecting body.

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

and a plurality of rubber gaskets are arranged on the inner wall of the accommodating through hole.

5. 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.

6. A skin in-situ printing mechanism according to claim 5, 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.

7. A skin in-situ printing mechanism according to claim 6, 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.

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

wherein the third ball bearing part is provided with a fixing plate for fixing the printing head device, the fixing plate is provided with a plurality of fixing holes,

the connecting body is provided with a connecting plate, a plurality of mounting holes are formed in the connecting plate, and 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 printing head device can be mounted on the fixing plate in different positions.

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

the supporting assembly comprises two supporting tables, and the two supporting tables are respectively used for supporting the first lead screw and the first sliding rod.

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

wherein the coating power device is a pressure providing device which is provided with pressure by pressure air, and the coating power device is provided with a gas storage used for providing the pressure air, a pressure regulator used for regulating the pressure of the pressure air and an air filter used for filtering the pressure air.