CN114179063A - Heterogeneous vascularized artificial skeletal muscle tissue, preparation method and micro mechanical arm - Google Patents
Heterogeneous vascularized artificial skeletal muscle tissue, preparation method and micro mechanical arm Download PDFInfo
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- CN114179063A CN114179063A CN202111553731.5A CN202111553731A CN114179063A CN 114179063 A CN114179063 A CN 114179063A CN 202111553731 A CN202111553731 A CN 202111553731A CN 114179063 A CN114179063 A CN 114179063A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0015—Flexure members, i.e. parts of manipulators having a narrowed section allowing articulation by flexion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
Abstract
The invention relates to a heterogeneous vascularized artificial skeletal muscle tissue, a preparation method and a micro mechanical arm, belonging to the technical field of bionic mechanical arms. The heterogeneous vascularized artificial skeletal muscle tissue comprises a plurality of pairs of strip muscle bands which are symmetrically arranged along the long axis direction and have different curvatures, each strip muscle band comprises a plurality of bionic micro muscle bundles and hollow microfibers which are alternatively arranged along the long axis direction in a layered mode, and the bionic micro muscle bundles and the hollow microfibers are connected through first hydrogel. The micro mechanical arm comprises heterogeneous vascularized artificial skeletal muscle tissues, an execution mechanism and an electrode stimulation mechanism; the electrode stimulation mechanisms are positioned at two ends of the heterogeneous vascularized artificial skeletal muscle tissue, and the execution mechanism is fixed between the pair of heterogeneous vascularized artificial skeletal muscle tissues. The mechanical arm uses heterogeneous vascularized artificial skeletal muscle tissues as a drive, a motor and a complex mechanical structure are not needed, the volume of peripheral driving equipment is effectively reduced, and the miniaturization and the light weight of the mechanical arm device are realized.
Description
Technical Field
The invention relates to a heterogeneous vascularized artificial skeletal muscle tissue, a preparation method and a micro mechanical arm, belonging to the technical field of bionic mechanical arms.
Background
The insect-imitating robot is one kind of robot based on insect model. However, due to the technical limitations of energy, driving, etc., the motion execution system of the insect-imitating robot is still difficult to be miniaturized, so that the insect-imitating robot has a huge body and a long distance from the actual insect shape. The mechanical arm constructed by artificial muscle tissue and mechanical fusion is a novel mechanical arm system for fusing a biological actuation system and mechano-electronics in cell and tissue dimensions. The artificial muscle tissue replaces the traditional motor to drive the mechanical arm, so that the mechanical arm has the subversive advantages of miniaturization volume, high energy efficiency and the like, and is one of effective and feasible methods for realizing the miniaturization of the insect-imitating robot motion execution system.
The artificial muscle tissue constructed by skeletal muscle cells has the potential of providing a high-strength actuating force for a mechanical arm, however, although the conventional artificial muscle tissue has a certain actuating capacity, most of the structures of the conventional artificial muscle tissue are simple blocks or strips, and have a large difference from the structure assembled by 'muscle fiber (muscle cells) -fascicles-skeletal muscle' layers in a living body, and the bionic degree is low. The arrangement of muscle fibers is a major factor in determining the biological performance of muscles. Thus, this simple biological structure restricts the actuation ability of the artificial muscle tissue.
Disclosure of Invention
In view of the above, the present invention provides a hetero-vascularized artificial skeletal muscle tissue, a preparation method thereof, and a micro-mechanical arm.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a heterogeneous vascularized artificial skeletal muscle tissue comprises a plurality of pairs of strip-shaped muscle bands which are symmetrically arranged along the long axis direction and have different curvatures, each strip-shaped muscle band comprises a plurality of bionic micro muscle bundles and hollow microfibers which are alternatively arranged along the long axis direction in a layered manner, and the bionic micro muscle bundles and the hollow microfibers are connected through first hydrogel; the bionic micro-fascicle is a fibrous coaxial nested microstructure formed by a skeletal muscle cell structure and a fibroblast structure wrapping the skeletal muscle cell structure; the fibroblast structure is formed by wrapping fibroblasts by second hydrogel; the skeletal muscle cell structure is formed by wrapping skeletal muscle cells by third hydrogel, and the skeletal muscle cells are directionally arranged along the long axis direction of the bionic micromotor bundle; the hollow microfibers are formed by wrapping skeletal muscle cells with fourth hydrogel, and the skeletal muscle cells are directionally arranged along the long axis direction of the hollow microfibers; both ends of the heterogeneous vascularized artificial skeletal muscle tissue are wrapped in a fifth hydrogel.
Further, the length of the long axis of the heterogeneous vascularized artificial skeletal muscle tissue is 0.8 cm-1.2 cm; the number of the strip-shaped muscle bands is 6, and each strip-shaped muscle band comprises 30-60 bionic micro muscle bundles and 30-60 hollow micro fibers; the curvature radius of the outermost pair of the strip-shaped muscle belts is 1.5 cm-2.5 cm, the curvature radius of the middle pair of the strip-shaped muscle belts is 2.5 cm-4 cm, and the curvature radius of the innermost pair of the strip-shaped muscle belts is 4 cm-5 cm.
Furthermore, the diameter of the skeletal muscle cell structure in the bionic micro-fascicle is 50-100 μm, and the thickness of the fibroblast structure is 50-100 μm; the diameter of the inner cavity of the hollow microfiber is 50-100 μm, and the wall thickness is 50-100 μm.
Further, the first hydrogel, the third hydrogel and the fifth hydrogel are GelMA hydrogels; the second hydrogel and the fourth hydrogel are mixed hydrogel of GelMA and calcium alginate.
Furthermore, the skeletal muscle cells are spindle-shaped, and the included angle between the long axis of the spindle-shaped appearance and the long axis direction of the bionic micromouscular bundle or the hollow microfiber is less than 20 degrees.
A method of preparing a hetero-vascularized artificial skeletal muscle tissue, the method steps comprising:
(1) assembling a micro-fluidic chip spray head: the three pinheads with different sizes are coaxially nested and assembled, and then a transparent tube with the tail end being a tip end is sleeved at the tail end of the pinhead with the largest size to form a micro-fluidic chip spray head;
(2) assembling a micro-column array collection platform: fixing the microcolumns on a collection platform according to the number and curvature requirements of each strip-shaped muscle band in the heterogeneous vascularized artificial skeletal muscle tissue, and assembling into a microcolumn array collection platform; then the bottom of the micro-column array collection platform and the lower part of the micro-column are immersed in CaCl2In solution;
(3) planning a moving path of the micro-fluidic chip spray head on the micro-column array collection platform according to the structural requirements of heterogeneous vascularized artificial skeletal muscle tissues;
(4) injecting the third hydrogel solution wrapping skeletal muscle cells into the needle head at the innermost layer, injecting the second hydrogel solution wrapping fibroblast cells into the needle head at the middle layer, injecting dextran (dextran) solution into the needle head at the outermost layer, irradiating the transparent tube with ultraviolet lamp, and vertically immersing the tip of the transparent tube into the CaCl2The solution enables the micro-fluidic chip spray head to vertically and stably move on the micro-column array collection platform according to the planned moving path, and a bionic micro-muscle bundle is formed on the micro-column array collection platform;
(5) replacing the innermost layer with dextran (dextran) solution, the remainder of the same step (4), forming hollow microfibers on the microcolumn array collection platform;
(6) removing the microcolumn array collection platform from CaCl2And taking out the solution, spraying a first hydrogel solution on the surfaces of the bionic micro-muscle bundles and the hollow micro-fibers, irradiating for crosslinking, and culturing to obtain the heterogeneous vascularized artificial skeletal muscle tissue.
Furthermore, the height of the microcolumns is 3-4 mm, the diameter of the microcolumns is 0.2-0.3 mm, and the distance between two adjacent microcolumns is 2-5 mm; immersing CaCl below the microcolumn2The height in the solution is 0.2 mm-0.4 mm.
A micro mechanical arm comprises heterogeneous vascularized artificial skeletal muscle tissue, an actuating mechanism and an electrode stimulation mechanism; the electrode stimulation mechanisms are positioned at two ends of the heterogeneous vascularized artificial skeletal muscle tissue, and the execution mechanism is fixed between the pair of heterogeneous vascularized artificial skeletal muscle tissues.
Furthermore, the actuating mechanism comprises a splayed framework and an elastic connecting piece, the splayed framework comprises two parallel rod pieces and inclined rod pieces which correspond to the parallel rod pieces one by one, the parallel rod pieces are connected with the inclined rod pieces, the two parallel rod pieces are respectively connected with the second hydrogel block, and the inclination angle of each inclined rod piece is 45-60 degrees; two ends of the elastic connecting piece are respectively connected with the inclined rod piece.
Furthermore, the electrode stimulation mechanism comprises copper sheet electrodes, a base and a lead, wherein the second hydrogel blocks at two ends of the heterogeneous vascularized artificial skeletal muscle tissue are respectively fixed on one surface of the base, the copper sheet electrodes are respectively fixed on the second surface of the base, and the execution mechanism is fixed on the third surface of the base; the copper sheet electrode is connected with an external power supply through a lead.
Advantageous effects
Compared with the traditional block/strip artificial muscle tissue, the heterogeneous vascularized artificial skeletal muscle tissue realizes the co-culture and ordered arrangement of fibroblasts and skeletal muscle cells, the fibroblasts can promote the recovery of the actuating function of the skeletal muscle cells, meanwhile, the ordered arrangement is beneficial to enabling the actuating force direction generated by each skeletal muscle cell to be consistent along the axial direction of a bionic micro-muscle bundle, the actuating force of the artificial muscle tissue is enhanced, and the vascularized structure can guarantee the supply of cell nutrients in the culture process and promote the cell activity of the artificial skeletal muscle tissue.
The invention provides a preparation method of heterogeneous vascularized artificial skeletal muscle tissue, which comprises the steps of injecting a hydrogel solution wrapping cells into a microfluidic chip spray head which is coaxially nested, extruding the hydrogel solution after ultraviolet irradiation until the hydrogel solution is immersed in CaCl2The preparation of the special structure heterogeneous vascularized artificial skeletal muscle tissue is realized on a microcolumn array collection platform in the solution.
The invention provides a micro mechanical arm, which uses heterogeneous vascularized artificial skeletal muscle tissue as a drive, does not need to use a motor and a complex mechanical structure, effectively reduces the volume of peripheral drive equipment, and realizes the miniaturization and light weight of a mechanical arm device.
Drawings
FIG. 1 is a schematic structural diagram and a partially enlarged view of a hetero-vascularized artificial skeletal muscle tissue of the present invention.
Fig. 2 is a schematic view of the curvature of the strip-shaped muscle band of the present invention.
FIG. 3 is a schematic diagram of the structure of the skeletal muscle cells of the present invention.
Fig. 4 is a schematic structural diagram and a partial enlarged view of a micro-fluidic chip spray head and a micro-column array collection platform in the invention.
FIG. 5 is a schematic view and a partial enlarged view of the micro-robot of the present invention.
Wherein, 1-heterogeneous vascularized artificial skeletal muscle tissue, 2-fibroblasts, 3-skeletal muscle cells, 4-bionic micromotor bundles, 5-hollow microfibers, 6-an included angle between a long axis of a spindle-shaped appearance of the skeletal muscle cells and the long axis direction of the hollow microfibers, 7-a curvature radius of an innermost pair of strip-shaped muscle bands, 8-a curvature radius of a middle pair of strip-shaped muscle bands, 9-a curvature radius of an outermost pair of strip-shaped muscle bands, 10-mounting holes, 11-elastic connecting pieces, 12-parallel rod pieces, 13-inclined rod pieces, 14-paddle feet, 15-copper sheet electrodes, 16-a base, 17-a second hydrogel block, 18-microneedles, 19-splayed frameworks, 20-microfluidic chip nozzles and 21-an operator with triaxial movement, 22-coaxial microfluidic chip nozzle, 23-binocular vision sensor, 24-microcolumn array collection platform, 25-microcolumn, and 26-gas/liquid interface.
Detailed Description
The present invention will be described in further detail with reference to specific examples.
As shown in fig. 1, a heterogeneous vascularized artificial skeletal muscle tissue comprises a plurality of pairs of strip-shaped muscle bands which are symmetrically arranged along the long axis direction and have different curvatures, each strip-shaped muscle band comprises a plurality of bionic micro-muscle bundles 4 and hollow microfibers 5 which are alternately arranged in a layered manner along the long axis direction, and the bionic micro-muscle bundles 4 and the hollow microfibers 5 are connected through first hydrogel; the bionic micro-muscle bundle 4 is a fibrous coaxial nested microstructure formed by a skeletal muscle cell structure and a fibroblast structure wrapping the skeletal muscle cell structure; the fibroblast structure consists of a second hydrogel wrapped by fibroblasts 2; the skeletal muscle cell structure is formed by wrapping skeletal muscle cells 3 with third hydrogel, and the skeletal muscle cells 3 are directionally arranged along the long axis direction of the bionic micromotor bundle; the hollow microfibers 5 are formed by wrapping skeletal muscle cells 3 with a fourth hydrogel, and the skeletal muscle cells 3 are directionally arranged along the long axis direction of the hollow microfibers 5; both ends of the hetero-vascularized artificial skeletal muscle tissue 1 are wrapped in a fifth hydrogel 17.
As shown in fig. 2, the length of the long axis of the heterogeneous vascularized artificial skeletal muscle tissue 1 is 0.8cm to 1.2cm (e.g., 0.8cm, 1.0cm, 1.2 cm); the number of the strip-shaped muscle bands is 6, and each strip-shaped muscle band comprises 30-60 (such as 30, 35, 40, 45, 51 and 60) bionic micro muscle bundles and 30-60 (such as 30, 35, 40, 45, 51 and 60) hollow microfibers 5; the curvature radius 7 of the outermost pair of the strip-shaped muscle belts is 1.5 cm-2.5 cm (such as 1.5cm, 2.1cm and 2.5cm), the curvature radius 8 of the middle pair of the strip-shaped muscle belts is 2.5 cm-4 cm (such as 2.5cm, 3.2cm and 4cm), and the curvature radius 9 of the innermost pair of the strip-shaped muscle belts is 4 cm-5 cm (such as 4cm, 4.8cm and 5 cm).
The diameter of the skeletal muscle cell structure in the bionic micromotor bundle 4 is 50-100 μm (such as 50-60 μm, 70 μm, 85 μm, 91 μm and 100 μm), and the thickness of the fibroblast cell structure is 50-100 μm (such as 50-65 μm, 73 μm, 80 μm, 90 μm and 100 μm); the hollow microfiber 5 has an inner cavity diameter of 50 to 100 μm (e.g., 50, 62, 78, 83, 91, 100 μm) and a wall thickness of 50 to 100 μm (e.g., 50, 60, 70, 80, 90, 100 μm).
The first, third, and fifth hydrogels are GelMA hydrogels (e.g., 5.5% w/v GelMA hydrogel); the second hydrogel and the fourth hydrogel are mixed hydrogels of GelMA and calcium alginate (e.g., 5.5% w/v GelMA mixed with 0.85% w/v calcium alginate).
As shown in fig. 3, the skeletal muscle cell 3 is spindle-shaped, and an included angle 6 between a long axis of the spindle-shaped outer shape and a long axis direction of the bionic micro-muscle bundle or the hollow microfiber 5 is less than 20 ° (e.g., 0 °, 5 °, 11 °, 18 °).
As shown in fig. 4, a method for preparing a heterogeneous vascularized artificial skeletal muscle tissue, the method comprises the steps of:
(1) assembling the micro-fluidic chip spray head 20: three needles with different sizes are coaxially nested and assembled (for example, the port of a 14-size needle is arranged on the outermost layer, the port of a 18-size needle is arranged on the middle layer, and the port of a 25-size needle is arranged on the innermost layer), and then a transparent tube with the tail end being a sharp end is sleeved at the tail end of the largest-size needle to form a microfluidic chip spray head 20;
(2) assembling a micro-column array collection platform: fixing the microcolumns 25 on a collection platform according to the number and curvature requirements of each strip-shaped muscle band in the heterogeneous vascularized artificial skeletal muscle tissue, and assembling into a microcolumn array collection platform; then the bottom of the micro-column array collection platform and the lower part of the micro-column 25 are immersed in CaCl2In solution;
(3) planning a moving path of the micro-fluidic chip spray head on the micro-column array collection platform according to the structural requirements of heterogeneous vascularized artificial skeletal muscle tissues;
(4) injecting a third hydrogel solution (such as 5.5% w/vGelMA solution) for coating skeletal muscle cells 3 into the innermost needle, injecting a second hydrogel solution (such as 5.5% w/vGelMA and 0.8% w/v calcium alginate mixed solution) for coating fibroblasts 2 into the middle needle, injecting a dextran (dextran) solution (such as 19% w/v dextran solution) into the outermost needle, irradiating the transparent tube with ultraviolet lamp, and vertically immersing the tip of the transparent tube into the CaCl2Solutions (e.g. 0.5% w/v CaCl2Solution), the micro-fluidic chip nozzle is vertically and stably moved on the micro-column array collection platform according to the planned moving path, for example, the relative positions of the coaxial micro-fluidic chip nozzle 22 and the micro-column array collection platform 24 are respectively controlled by two manipulators 21 which move in three axes of XYZ, and bionic micro-muscle bundles are formed on the micro-column array collection platform;
(5) replacing the innermost layer with a dextran (dextran) solution (e.g., 19% w/v dextran solution), the remainder of the same step (4), forming hollow microfibers on the microcolumn array collection platform;
(6) removing the microcolumn array collection platform from CaCl2Taking out, spraying a first hydrogel solution (such as 0.2% w/v GELMA solution) on the surfaces of the bionic micro-muscle bundle and the hollow micro-fiber, irradiating for crosslinking, and culturing to obtain a heterogeneous vascularized artificial skeletal muscle tissue.
The above-mentionedThe height of the microcolumns 25 is 3mm to 4mm (such as 3mm, 3.5mm and 4mm), the diameter is 0.2mm to 0.3mm (such as 0.2mm, 0.25mm and 0.3mm), and the distance between two adjacent microcolumns 25 is 2mm to 5mm (such as 2mm, 3mm, 4mm and 5 mm); the lower part of the microcolumn 25 is immersed in CaCl2The height in the solution is 0.2mm to 0.4mm (e.g., 0.2mm, 0.35mm, 0.4 mm).
As shown in fig. 5, a micro-mechanical arm comprises heterogeneous vascularized artificial skeletal muscle tissue 1, an actuator and an electrode stimulation mechanism; the electrode stimulation mechanisms are positioned at two ends of the heterogeneous vascularized artificial skeletal muscle tissue 1, and the actuating mechanism is fixed between the pair of heterogeneous vascularized artificial skeletal muscle tissues 1.
The actuating mechanism comprises a splayed framework 19 and an elastic connecting piece 11, the splayed framework comprises two parallel rod pieces 12 and inclined rod pieces 13 which correspond to the parallel rod pieces 12 one by one, the parallel rod pieces 12 are connected with the inclined rod pieces 13, the two parallel rod pieces 12 are respectively connected with a second hydrogel block 17, and the inclined angles of the inclined rod pieces are 45-60 degrees (such as 45 degrees, 50 degrees, 55 degrees and 60 degrees); both ends of the elastic connecting member 11 are connected to the tilting lever members 13, respectively. If one of the inclined rod pieces 13 is connected with the annular mounting hole, the inclined rod piece can be used for being connected with the aquatic insect body simulating mechanism subsequently, and the other inclined rod piece is connected with the paddle foot 14 to construct a swimming foot mechanism of the aquatic insect simulating mechanism, so that the swimming foot mechanism is suitable for paddling.
The electrode stimulation mechanism comprises a copper sheet electrode 15, a base 16 and a lead, wherein second hydrogel blocks 17 at two ends of the heterogeneous vascularized artificial skeletal muscle tissue 1 are respectively fixed on one surface of the base, and can be fixed through a microneedle 18 if necessary; the copper sheet electrodes 15 are respectively fixed on the second surface of the base, and the actuating mechanism is fixed on the third surface of the base; the copper sheet electrode is connected with an external power supply through a lead.
The copper sheet electrodes 15 are respectively connected with a power supply through leads, provide input voltage with the peak value of 2 volts and the frequency of 0.1 Hz-10 Hz for skeletal muscle cells, and stimulate the contraction and the relaxation of heterogeneous vascularized artificial skeletal muscle tissues according to the same frequency.
In summary, the invention includes but is not limited to the above embodiments, and any equivalent replacement or local modification made under the spirit and principle of the invention should be considered as being within the protection scope of the invention.
Claims (10)
1. A hetero-vascularized artificial skeletal muscle tissue, characterized by: the bionic muscle band comprises a plurality of pairs of strip-shaped muscle bands which are symmetrically arranged along the long axis direction and have different curvatures, each strip-shaped muscle band comprises a plurality of bionic micro-muscle bundles (4) and hollow microfibers (5) which are alternately arranged in a layered mode along the long axis direction, and the bionic micro-muscle bundles (4) and the hollow microfibers (5) are connected through first hydrogel; the bionic micromotor bundle (4) is a fibrous coaxial nested microstructure formed by a skeletal muscle cell structure and a fibroblast structure wrapping the skeletal muscle cell structure; the fibroblast structure is formed by wrapping fibroblasts (2) by second hydrogel; the skeletal muscle cell structure is formed by wrapping skeletal muscle cells (3) with third hydrogel, and the skeletal muscle cells (3) are directionally arranged along the long axis direction of the bionic micromotor bundle; the hollow microfibers (5) are formed by wrapping skeletal muscle cells (3) by fourth hydrogel, and the skeletal muscle cells (3) are directionally arranged along the long axis direction of the hollow microfibers (5); both ends of the heterogeneous vascularized artificial skeletal muscle tissue (1) are wrapped in a fifth hydrogel (17).
2. A hetero-vascularized artificial skeletal muscle tissue of claim 1, wherein: the long axis length of the heterogeneous vascularized artificial skeletal muscle tissue (1) is 0.8 cm-1.2 cm; the number of the strip-shaped muscle bands is 6, and each strip-shaped muscle band comprises 30-60 bionic micro muscle bundles and 30-60 hollow micro fibers (5); the curvature radius of the outermost pair of the strip-shaped muscle belts is 1.5 cm-2.5 cm, the curvature radius of the middle pair of the strip-shaped muscle belts is 2.5 cm-4 cm, and the curvature radius of the innermost pair of the strip-shaped muscle belts is 4 cm-5 cm.
3. A hetero-vascularized artificial skeletal muscle tissue of claim 1, wherein: the diameter of a skeletal muscle cell structure in the bionic micromotor bundle (4) is 50-100 mu m, and the thickness of a fibroblast structure is 50-100 mu m; the diameter of the inner cavity of the hollow microfiber (5) is 50-100 μm, and the wall thickness is 50-100 μm.
4. A hetero-vascularized artificial skeletal muscle tissue of claim 1, wherein: the first hydrogel, the third hydrogel and the fifth hydrogel are GelMA hydrogels; the second hydrogel and the fourth hydrogel are mixed hydrogel of GelMA and calcium alginate.
5. A hetero-vascularized artificial skeletal muscle tissue of claim 1, wherein: the skeletal muscle cells (3) are spindle-shaped, and the included angle between the long axis of the spindle-shaped appearance and the long axis direction of the bionic micromouscular bundle or the hollow microfiber (5) is less than 20 degrees.
6. A method for preparing a heterogeneously vascularized artificial skeletal muscle tissue according to any one of claims 1 to 5, wherein: the method comprises the following steps:
firstly, assembling a micro-fluidic chip spray head: the three pinheads with different sizes are coaxially nested and assembled, and then a transparent tube with the tail end being a tip end is sleeved at the tail end of the pinhead with the largest size to form a micro-fluidic chip spray head;
assembling a micro-column array collection platform: fixing the microcolumns (25) on a collection platform according to the number and curvature requirements of each strip-shaped muscle band in the heterogeneous vascularized artificial skeletal muscle tissue, and assembling into a microcolumn array collection platform; then the bottom of the micro-column array collection platform and the lower part of the micro-column (25) are immersed in CaCl2In solution;
thirdly, planning a moving path of the micro-fluidic chip spray head on the micro-column array collection platform according to the structural requirements of the heterogeneous vascularized artificial skeletal muscle tissue;
fourthly, injecting a third hydrogel solution wrapping skeletal muscle cells (3) into the needle head at the innermost layer, injecting a second hydrogel solution wrapping fibroblasts (2) into the needle head at the middle layer, injecting a glucan solution into the needle head at the outermost layer, irradiating the transparent tube by an ultraviolet lamp, and vertically immersing the tip of the transparent tube into the CaCl2The solution enables the micro-fluidic chip spray head to vertically and stably move on the micro-column array collection platform according to the planned moving path, and a bionic micro-muscle bundle is formed on the micro-column array collection platform;
replacing the innermost layer with a dextran solution, and forming hollow microfibers on the micro-column array collection platform in the same step as the step four;
sixthly, the microcolumn array collection platform is separated from CaCl2And taking out the solution, spraying a first hydrogel solution on the surfaces of the bionic micro-muscle bundles and the hollow micro-fibers, irradiating for crosslinking, and culturing to obtain the heterogeneous vascularized artificial skeletal muscle tissue.
7. The method of claim 6, wherein the step of preparing the heterovascularized artificial skeletal muscle tissue comprises: the height of the microcolumns (25) is 3-4 mm, the diameter is 0.2-0.3 mm, and the distance between two adjacent microcolumns (25) is 2-5 mm; the lower part of the microcolumn (25) is immersed in CaCl2The height in the solution is 0.2 mm-0.4 mm.
8. A micro-robot arm, comprising: comprising a heterovascularized artificial skeletal muscle tissue (1) according to any of claims 1 to 5, an actuator and an electrode stimulation mechanism; the electrode stimulation mechanisms are positioned at two ends of the heterogeneous vascularized artificial skeletal muscle tissue (1), and the actuating mechanism is fixed between the pair of heterogeneous vascularized artificial skeletal muscle tissues (1).
9. The micro-robotic arm of claim 8, wherein: the actuating mechanism comprises a splayed framework (19) and an elastic connecting piece (11), the splayed framework comprises two parallel rod pieces (12) and inclined rod pieces (13) which correspond to the parallel rod pieces (12) one by one, the parallel rod pieces (12) are connected with the inclined rod pieces (13), the two parallel rod pieces (12) are respectively connected with a second hydrogel block (17), and the inclined angle of each inclined rod piece is 45-60 degrees; two ends of the elastic connecting piece (11) are respectively connected with the inclined rod piece (13).
10. The micro-robotic arm of claim 8, wherein: the electrode stimulation mechanism comprises copper sheet electrodes (15), a base (16) and a lead, wherein second hydrogel blocks (17) at two ends of the heterogeneous vascularized artificial skeletal muscle tissue (1) are respectively fixed on one surface of the base, the copper sheet electrodes (15) are respectively fixed on a second surface of the base, and the execution mechanism is fixed on a third surface of the base; the copper sheet electrode is connected with an external power supply through a lead.
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| US20020022884A1 (en) * | 2000-03-27 | 2002-02-21 | Mansmann Kevin A. | Meniscus-type implant with hydrogel surface reinforced by three-dimensional mesh |
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| KR20180130419A (en) * | 2017-05-29 | 2018-12-07 | 숭실대학교산학협력단 | Biological machine using self-folding of multi-layered hydrogel and preparing method thereof |
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