CN114164107B - Multi-rail 3D biological printing system, control method and 3D printer - Google Patents
Multi-rail 3D biological printing system, control method and 3D printer Download PDFInfo
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- CN114164107B CN114164107B CN202111374645.8A CN202111374645A CN114164107B CN 114164107 B CN114164107 B CN 114164107B CN 202111374645 A CN202111374645 A CN 202111374645A CN 114164107 B CN114164107 B CN 114164107B
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- 238000007639 printing Methods 0.000 title claims abstract description 97
- 238000000034 method Methods 0.000 title claims abstract description 10
- 238000004132 cross linking Methods 0.000 claims abstract description 9
- 230000001681 protective effect Effects 0.000 claims description 12
- 239000000463 material Substances 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 5
- 238000007789 sealing Methods 0.000 claims description 4
- 239000012774 insulation material Substances 0.000 claims description 3
- 238000000016 photochemical curing Methods 0.000 claims description 3
- 238000010146 3D printing Methods 0.000 abstract description 3
- 239000007921 spray Substances 0.000 description 8
- 238000001125 extrusion Methods 0.000 description 5
- 210000001519 tissue Anatomy 0.000 description 5
- 230000007547 defect Effects 0.000 description 3
- 239000003814 drug Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 210000000056 organ Anatomy 0.000 description 3
- 239000012620 biological material Substances 0.000 description 2
- 210000000988 bone and bone Anatomy 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 229940079593 drug Drugs 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000008827 biological function Effects 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000002900 effect on cell Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 210000002220 organoid Anatomy 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 102000004169 proteins and genes Human genes 0.000 description 1
- 108090000623 proteins and genes Proteins 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000004083 survival effect Effects 0.000 description 1
- 238000013268 sustained release Methods 0.000 description 1
- 239000012730 sustained-release form Substances 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
Classifications
-
- C—CHEMISTRY; METALLURGY
- C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
- C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
- C12M33/00—Means for introduction, transport, positioning, extraction, harvesting, peeling or sampling of biological material in or from the apparatus
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor
Abstract
The application belongs to the technical field of 3D printing, and discloses a multi-rail 3D biological printing system, a control method, a 3D printer, a main biological ink module and a printing module; the biological ink module comprises a biological ink box and a movement control system for controlling XYZ axes of the biological ink box; the printing module comprises a device for fixing the nozzles of the bio-ink cartridge, an XYZ axis movement and rotation control system, a system for controlling the nozzle spacing of the bio-ink cartridge and an ultraviolet crosslinking module; the bio-ink cartridge includes, but is not limited to, a multi-channel high Wen Mo cartridge, a multi-channel normal temperature ink cartridge, a multi-channel coaxial ink cartridge, a multi-channel pressurized ink cartridge, etc., and is fixed in the bio-ink cartridge. The application can improve the printing capability and printing efficiency of the 3D biological printer: multiple printing tasks can be performed simultaneously, a biological printing product with larger size is built, and a more complex structure is built; greatly shortens the printing time and improves the biological printing quality.
Description
Technical Field
The application belongs to the technical field of 3D printing, and particularly relates to a multi-rail 3D biological printing system, a control method and a 3D printer.
Background
At present: biological 3D printing is a core technology for biological manufacturing, which uses cells, proteins, biological materials, etc. as building blocks to construct biological models, life systems, and therapeutic products. Compared with the traditional tissue engineering and other printing modes of firstly printing a bracket for molding and then inoculating cells for constructing tissues, the 3D biological printing can accurately print different types of cells at corresponding space positions, and form similar strength and elasticity of tissues/organs and generate certain biological functions after adding the corresponding biological materials according to different tissue/organ characteristics. 3D biological printing is certainly an advanced technical means at present, has important application in the fields of stent construction, organoids, drug sustained release delivery and the like, and has great and wide application prospects in the fields of biological medicines and the like.
At present, the micro-extrusion type 3D biological printer can load a plurality of spray heads to print, but when the plurality of spray heads are operated to print in actual printing, the plurality of spray heads cannot be synchronously printed at the same time, the switching speed among the plurality of spray heads is low, and the printing efficiency is greatly limited. It is well known that in cell printing, too long a printing time can have an effect on cell activity. Therefore, when complex, large-sized and large-scale bio-printing is performed, the printing time is the critical point, namely, the printing efficiency of the 3D bio-printer is required, and the current micro-extrusion 3D bio-printer has limitations.
Through the above analysis, the problems and defects existing in the prior art are as follows: when the existing 3D biological spray head operates a plurality of spray heads for printing, the printing efficiency is low, and the cell activity and the size of a construction are affected.
The difficulty of solving the problems and the defects is as follows: how to improve the micro-extrusion 3D biological printing performance, realize the printing with high speed, multiple materials, complexity, large size and functional structure, is the advancing direction of the current micro-extrusion 3D biological printer.
The meaning of solving the problems and the defects is as follows: meanwhile, when multi-rail multi-channel printing is carried out, the spray heads are not required to be switched, and the printing efficiency is greatly improved, so that the printing speed is improved, the printing time is shortened, the printing quality is improved, the basic conditions of constructing biological products with complex large sizes and functional tissues and organs are achieved, the advantages and the functions of the micro-extrusion 3D biological printer are better exerted, and the application in the field of biological medicine is more important and wide.
Disclosure of Invention
Aiming at the problems existing in the prior art, the application provides a multi-rail 3D biological printing system, a control method and a 3D printer.
The application is realized in that a multi-track 3D bioprinting system, the multi-track 3D bioprinting system comprising: a bio-ink module and a printing module;
the biological ink module comprises a biological ink box and a movement control system for controlling XYZ axes of the biological ink box;
the printing module comprises a device for fixing the nozzles of the bio-ink cartridge, an XYZ axis movement and rotation control system, a system for controlling the nozzle spacing of the bio-ink cartridge and an ultraviolet crosslinking module;
the bio-ink cartridge includes, but is not limited to, a multi-channel high Wen Mo cartridge, a multi-channel normal temperature ink cartridge, a multi-channel coaxial ink cartridge, a multi-channel pressurized ink cartridge, etc., and is fixed in the bio-ink cartridge.
Further, the power system is connected with the bio-ink module.
Further, a multi-channel high Wen Mo water cylinder, a multi-channel normal-temperature ink cylinder, a multi-channel coaxial ink cylinder, a multi-channel pressurizing ink cylinder and the like which are preloaded with the biological ink are filled into the biological ink box.
Further, the nozzle is screwed with a flow passage pipe below the multichannel ink cartridge and is fitted into a fixed bio-ink cartridge nozzle device.
Further, the interval between the nozzles is adjusted through a program, and printing parameters are adjusted to print.
Another object of the present application is to provide a control method of the multi-rail 3D bio-printing system, the control method comprising: the box cover can be opened above the bio-ink box module, at least 4 multi-channel ink cartridges can be placed and fixed, wherein the temperature raising module is positioned at the leftmost side, so that the multi-channel high Wen Moshui cartridge is positioned at the leftmost side, and the periphery of the high Wen Moshui box is positioned in a heat insulation material;
the multi-channel ink cartridge is in a closed state after the box cover is closed, the power system is connected with the multi-channel ink cartridge, provides pushing force during printing, and adjusts the pushing pressure of different multi-channel ink cartridges through the pressure control module;
the multichannel ink cartridge is fixed in the biological ink box of the 3D printer, the lower circulation pipeline has a flow dividing function, and the ink reaches different nozzles through the flow dividing pipeline, opens the sealing cap and is connected with the nozzles;
the nozzle is fixed in the printing module and the protective sleeve is taken down, so that the printing system is installed;
the biological ink box can integrally move under the action of a movement control system for controlling the XYZ axes of the biological ink box, and the printing module is arranged on the printing platform;
the printing module can carry out mobile printing under the action of the XYZ-axis mobile rotary control module, the nozzle spacing control system can adjust the distance between the nozzles, the ultraviolet crosslinking module can adjust the intensity of photocrosslinking, and the photosensitive material is subjected to real-time photocuring.
It is another object of the present application to provide a 3D printer comprising the multi-rail 3D bioprinting system.
By combining all the technical schemes, the application has the advantages and positive effects that: the application can greatly improve the efficiency of the 3D biological printer, can simultaneously construct a plurality of 3D biological products or construct 3D biological products with larger size, shortens the printing time and improves the cell survival rate. The degree of freedom between the bio-ink module and the printing module is quite large, the number of bio-ink boxes can be increased, and multi-material 3D bio-printing can be completed, so that a more complex structure is constructed, and the application capability and application range of 3D bio-printing are greatly improved. The replaceable integrated sterile multi-channel ink cartridge consumable is adopted, so that the tightness of the pipeline is guaranteed, and the joint is provided with a protective sleeve, so that the sterile operation requirement is better completed, and cell printing is performed.
The application separates the spray head module from the nozzle module, can simultaneously print and line the bio-ink extruded by the quantity of the feed cylinders and has controllable nozzle interval, and can simultaneously print the bio-ink with the quantity of the nozzle modules and has controllable nozzle interval. The biological ink module and the printing module are provided with an XYZ axis movement control module, the upper part is used for integrally moving, the XYZ axis of the printing module is used for printing, and plane rotation is added for optimizing a moving path, so that the printing performance is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a multi-rail 3D bioprinting system according to an embodiment of the present application.
FIG. 2 is a schematic diagram of a multi-channel ink cartridge according to an embodiment of the present application;
in the figure: 1. special high Wen Moshui box position; 2. a temperature control module; 3. a high-temperature double-channel ink cartridge; 4. an ultraviolet crosslinking module; 5. a printing module; 6. a common dual-channel ink cartridge; 7. an XYZ axis movement rotation control module; 8. an XYZ axis movement control module; 9. the biological ink box and the power pressure control system; 10. the screw thread is connected with the protective sleeve; 11. a piston; 12. threaded connection; 13. a nozzle; 14. a nozzle protective sleeve; 15. fixing a biological ink cartridge nozzle device; 16. a bio-ink cartridge nozzle pitch control system;
Detailed Description
The present application will be described in further detail with reference to the following examples in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
Aiming at the problems existing in the prior art, the application provides a multi-rail 3D biological printing system, a control method and a 3D printer, and the application is described in detail below with reference to the accompanying drawings.
As shown in fig. 1 and 2, a multi-rail 3D bioprinting system provided by an embodiment of the present application includes: the special high Wen Moshui cartridge position 1, the temperature control module 2, the high-temperature double-channel ink cartridge 3, the ultraviolet hinge module 4, the printing module 5, the common double-channel ink cartridge 6, the XYZ shaft movement rotation control module 7, the XYZ shaft movement control module 8, the biological ink cartridge and power pressure control system 9, the threaded connection protective sleeve 10, the piston 11, the threaded connection 12, the nozzle 13 and the nozzle protective sleeve 14.
The special high-temperature ink box 1 is positioned at the leftmost side in the biological ink and power pressure control system 9; the temperature control module 2 is positioned in the special high-temperature biological ink box 1 and is contacted with the high-temperature double-channel ink cylinder 3; the ultraviolet crosslinking module 4 is positioned in the printing module 5 and is centered in position; the common double-channel ink cartridge 6 is positioned in the biological ink box and the power pressure control system 9, and is arranged in sequence, and the lower thread connection 12 is fixed in the printing module 5; the XYZ-axis movement and rotation control module 7 is connected between the biological ink box and the power pressure control system 9 as well as the printing module 5; the XYZ axis movement control module 8 is positioned behind the whole bio-ink box and the power pressure control system 9; the threaded connection protective sleeve 10 is sleeved at the threaded connection 12 of the common double-channel ink cartridge 6; the piston 11 is positioned in the ink cylinder of the common double-channel ink cylinder 6, and the ink cylinder is occupied in a sealing way; the threaded connection 12 is rotationally connected with the nozzle 13; the nozzle protecting sleeve 14 is sleeved in the nozzle 13 and connected with the threaded connection 12;
a stationary bio-ink cartridge nozzle device 15 is located within the print module 5 in communication with a bio-ink cartridge nozzle pitch control system 16.
The multi-rail 3D biological printing system provided by the embodiment of the application comprises: a bio-ink module and a printing module;
the biological ink module comprises a biological ink box and a movement control system for controlling XYZ axes of the biological ink box;
the printing module comprises a device for fixing the nozzles of the bio-ink cartridge, an XYZ axis movement and rotation control system, a system for controlling the nozzle spacing of the bio-ink cartridge and an ultraviolet crosslinking module;
the bio-ink cartridge includes, but is not limited to, a multi-channel high Wen Mo cartridge, a multi-channel normal temperature ink cartridge, a multi-channel coaxial ink cartridge, a multi-channel pressurized ink cartridge, etc., and is fixed in the bio-ink cartridge.
Further, the power system is connected with the bio-ink module.
Further, a multi-channel high Wen Mo water cylinder, a multi-channel normal-temperature ink cylinder, a multi-channel coaxial ink cylinder, a multi-channel pressurizing ink cylinder and the like which are preloaded with the biological ink are filled into the biological ink box.
Further, the nozzle is screwed with a flow passage pipe below the multichannel ink cartridge and is fitted into a fixed bio-ink cartridge nozzle device.
Further, the interval between the nozzles is adjusted through a program, and printing parameters are adjusted to print.
Preferably, the power system is connected to the bio-ink module. The biologic ink cartridge is filled with a multi-channel high Wen Mo water cartridge, a multi-channel normal-temperature ink cartridge, a multi-channel coaxial ink cartridge, a multi-channel pressurized ink cartridge and the like which are preloaded with biologic ink. The nozzle is connected with the flow pipeline below the multichannel ink cartridge by screw threads, and is installed into a nozzle device for fixing the biological ink cartridge. And the program adjusts the interval between the nozzles, and adjusts the printing parameters to print.
When the embodiment of the application is used, the box cover can be opened above the bio-ink box module, 4 multi-channel ink cartridges which are not limited to 4 can be placed and fixed, wherein the temperature rising module is positioned at the leftmost side, so that the multi-channel high Wen Moshui cartridge is required to be positioned at the leftmost side, and the periphery of the high Wen Moshui box is positioned in a heat insulation material so as not to influence other multi-channel ink cartridges;
the multi-channel ink cartridge is in a closed state after the box cover is closed, the power system is connected with the multi-channel ink cartridge, provides pushing force during printing, and adjusts the pushing pressure of different multi-channel ink cartridges through the pressure control module;
the multichannel ink cartridge is fixed in the biological ink box of the 3D printer, the lower circulation pipeline has a flow dividing function, and the ink reaches different nozzles through the flow dividing pipeline, opens the sealing cap and is connected with the nozzles;
the nozzle is fixed in the printing module and the protective sleeve is taken down, namely the printing system is installed;
the biological ink box can integrally move under the action of a movement control system for controlling the XYZ axes of the biological ink box, and the printing module is quickly arranged on the printing platform;
the printing module can carry out mobile printing under the action of the XYZ-axis mobile rotary control module, the nozzle spacing control system can adjust the distance between the nozzles, the ultraviolet crosslinking module can adjust the intensity of photocrosslinking, and the photosensitive material is subjected to real-time photocuring.
The technical effects of the present application will be described in detail with reference to experiments.
TABLE 1
The above comparison assumes that the robotic arm movement speed, printing speed, nozzle diameter, shape, printing parameters are consistent, removing human operational factors, and defaulting to the same T-time representation when the time spent is similar (< 3 s).
As can be seen from table 1, the printing efficiency of the present application is greatly improved without being limited by the number of printing layers, and it should be noted that the improvement of the printing efficiency of the present application is more remarkable as the number of printing layers n is larger. The application not only optimizes the assembly flow and reduces the calibration time before printing, but also can print a plurality of materials at the same time and has no time-consuming nozzle switching link. The mode has expansibility and adjustability, the multi-channel ink cartridge is a replaceable disposable sterile consumable material, can be 1,2,3,4 channels and the like, and the number of the bio-ink cartridges can also be 1,2,3,4,5,6 and the like, so that huge space for updating and improving is provided, and the corresponding performance is improved dramatically.
Specific cases:
1. assume that the print-to-be-printed scale is 5cm 3 The cube bone tissue block is required to have a mechanical support phase, bone tissue and blood vessels.
2. And (3) carrying out printing scheme design, completing 3D modeling, planning a printing path in a program, and setting printing parameters.
3. The combination design is adapted to the corresponding high-temperature double-channel ink cylinder, the channel normal-temperature ink cylinder and the multi-channel coaxial ink cylinder.
4. The whole bio-ink cartridge module is moved to a manual ink loading position and assembled after aseptic pre-loading of bio-ink, wherein the high-temperature dual-channel ink cartridge is positioned at a specially-made high Wen Moshui cartridge position, and the rest sequence has no special requirement.
5. Closing the bio-ink box cover, removing the sterile connecting nozzle of the protective sleeve below the multi-channel ink cartridge, fixing the protective sleeve in the printing module, adjusting the distance between the nozzles, removing the protective sleeve of the nozzle, closing the sterile printing condition, and simultaneously performing temperature control and pressure control adjustment.
6. And starting printing after the calibration before printing is performed, and recovering the device after the printing is finished.
In the description of the present application, unless otherwise indicated, the meaning of "a plurality" is two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front," "rear," "head," "tail," and the like are used as an orientation or positional relationship based on that shown in the drawings, merely to facilitate description of the application and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the application. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The foregoing is merely illustrative of specific embodiments of the present application, and the scope of the application is not limited thereto, but any modifications, equivalents, improvements and alternatives falling within the spirit and principles of the present application will be apparent to those skilled in the art within the scope of the present application.
Claims (5)
1. A multi-rail 3D bioprinting system, characterized in that the multi-rail 3D bioprinting system comprises: a bio-ink module and a printing module;
the biological ink module comprises a biological ink box and a movement control system for controlling XYZ axes of the biological ink box;
the printing module comprises a device for fixing the nozzles of the bio-ink cartridge, an XYZ axis movement and rotation control system, a system for controlling the nozzle spacing of the bio-ink cartridge and an ultraviolet crosslinking module;
the bio-ink cartridge comprises a multi-channel high Wen Mo water cartridge, a multi-channel normal-temperature ink cartridge, a multi-channel coaxial ink cartridge or a multi-channel pressurized ink cartridge, and is fixed in the bio-ink cartridge;
the power system is connected with the bio-ink module;
and filling the biologic ink cartridge with the biologic ink pre-filled multi-channel high Wen Mo water cartridge, the multi-channel normal-temperature ink cartridge, the multi-channel coaxial ink cartridge or the multi-channel pressurized ink cartridge.
2. The multi-rail 3D bioprinting system of claim 1, wherein the nozzles are threadably connected to the flow channels below the multi-channel ink cartridge and incorporate a fixed bio-ink cartridge nozzle assembly.
3. The multi-rail 3D bioprinting system of claim 1, wherein the printing parameters are adjusted by programming the inter-nozzle spacing to print.
4. A control method of the multi-rail 3D bio-printing system according to any one of claims 1 to 3, characterized in that the control method comprises: the box cover can be opened above the bio-ink box module, at least 4 multi-channel ink cartridges can be placed and fixed, wherein the temperature raising module is positioned at the leftmost side, so that the multi-channel high Wen Moshui cartridge is positioned at the leftmost side, and the periphery of the high Wen Moshui box is positioned in a heat insulation material;
the multi-channel ink cartridge is in a closed state after the box cover is closed, the power system is connected with the multi-channel ink cartridge, provides pushing force during printing, and adjusts the pushing pressure of different multi-channel ink cartridges through the pressure control module;
the multichannel ink cartridge is fixed in the biological ink box of the 3D printer, the lower circulation pipeline has a flow dividing function, and the ink reaches different nozzles through the flow dividing pipeline, opens the sealing cap and is connected with the nozzles;
the nozzle is fixed in the printing module and the protective sleeve is taken down, so that the printing system is installed;
the biological ink box can integrally move under the action of a movement control system for controlling the XYZ axes of the biological ink box, and the printing module is arranged on the printing platform;
the printing module can carry out mobile printing under the action of the XYZ-axis mobile rotary control module, the nozzle spacing control system can adjust the distance between the nozzles, the ultraviolet crosslinking module can adjust the intensity of photocrosslinking, and the photosensitive material is subjected to real-time photocuring.
5. A 3D printer, characterized in that the 3D printer comprises a multi-rail 3D bioprinting system according to any one of claims 1 to 3.
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| CN202111374645.8A CN114164107B (en) | 2021-11-19 | 2021-11-19 | Multi-rail 3D biological printing system, control method and 3D printer |
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| CN202111374645.8A CN114164107B (en) | 2021-11-19 | 2021-11-19 | Multi-rail 3D biological printing system, control method and 3D printer |
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| CN114164107B true CN114164107B (en) | 2023-11-21 |
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