CN214383267U

CN214383267U - Normal position 3D prints cartilage prosthetic devices

Info

Publication number: CN214383267U
Application number: CN202023086567.5U
Authority: CN
Inventors: 宋长辉; 李意浓; 雷浩杨; 余家阔; 杨永强
Original assignee: South China University of Technology SCUT; Peking University Third Hospital Peking University Third Clinical Medical College
Current assignee: South China University of Technology SCUT; Peking University Third Hospital Peking University Third Clinical Medical College
Priority date: 2020-12-18
Filing date: 2020-12-18
Publication date: 2021-10-12
Anticipated expiration: 2030-12-18

Abstract

The utility model discloses an in-situ 3D printing cartilage repair device, which comprises a lens, a raw material container, a curing light source, a switching frame, an optical fiber, a three-way head, a pushing plate, a module, an injection needle, a pressing plate and an mechanical arm; lens set firmly inside the tee joint through the U-shaped draw-in groove, the tee joint passes through threaded connection with optic fibre, optic fibre passes through threaded connection with the solidification light source, the solidification light source passes through bolted connection with the switching frame, the module passes through bolt and nut with the switching frame to be connected, the kickboard passes through bolt and nut with the module to be connected, the switching frame passes through bolted connection with the arm, raw and other materials container passes through the clamp plate with the module to be connected, the syringe needle passes through threaded connection with raw and other materials container. The utility model discloses a 6 arms of digital means control drive and print the shower nozzle and directly print the restoration at the direct normal position of cartilage defect department, and the process is simple, and artifical intervention time is short, can realize the high accuracy normal position 3D of multiple biomaterial, multiple structure and print accurate restoration.

Description

Normal position 3D prints cartilage prosthetic devices

Technical Field

The utility model belongs to the technical field of increase material manufacturing, concretely relates to normal position 3D prints cartilage prosthetic devices.

Background

The traditional cartilage repair techniques include bone marrow stimulation and mosaic formation, wherein the bone marrow stimulation stimulates the healing of cartilage through drilling, abrasion or microfracture of subchondral bone, and the mosaic formation achieves the aim of healing cartilage by digging out non-moving articular cartilage to fill the cartilage injury. The traditional cartilage repair technology is a destructive mode to achieve the aim of cartilage repair and has certain damage to human bodies.

The novel cartilage repair technology is a tissue engineering technology, and the biological material inoculated with the chondrocytes is added to the cartilage injury part and directly implanted. The prior art is mainly a cartilage repair mode based on a handheld 3D printing device, and the main process is that a clinician directly adds repair materials at cartilage damage positions through a handheld biological gun to achieve the purpose of treatment. However, the method of holding the bio-gun by a doctor cannot guarantee the requirement of repair precision, and can only print and repair cartilage defects with simple shapes, which cannot meet the complex environment in the human body.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a main aim at overcomes prior art's shortcoming and not enough, provides a normal position 3D prints cartilage prosthetic devices, has reached the accurate purpose of revising the cartilage tissue through digital means accurate control arm.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

an in-situ 3D printing cartilage repair device is connected with a main control board and comprises a lens, a raw material container, a curing light source, a switching frame, an optical fiber, a three-way head, a pushing plate, a module, an injection needle, a pressing plate and a mechanical arm;

the lens is fixedly arranged in the tee joint through the U-shaped clamping groove, the tee joint is in threaded connection with the optical fiber, the optical fiber is in threaded connection with the curing light source, the curing light source is in bolted connection with the switching frame, the module is in matched connection with the switching frame through bolts and nuts, the pushing plate is connected with the module through bolts and nuts, the switching frame is in bolted connection with the mechanical arm, the raw material container is fixedly connected with the module through the pressing plate, and the injection needle is in threaded connection with the raw material container;

the light source enters the tee joint through the optical fiber, the lens focuses the light source and emits light from the side to the top end of the injection needle, the module pushes and presses the raw material container through the pushing plate, the raw material flows out of the injection needle and is solidified while being injected under the light, and the printing position and the printing direction are controlled by the aid of the mechanical arm in the printing process.

Further, the module includes step motor, guide rail, slip table, screw rod, shaft coupling and support, step motor passes through the shaft coupling and is connected with the screw rod, and step motor and guide rail pass through bolt and nut and leg joint, the slip table makes the slip table slide on the guide rail through the cooperation with the guide rail, and the slip table passes through the vice transmission power of spiral with the screw rod.

Furthermore, the stepping motor rotates a specific angle under the control of the main control board, and the pushing plate is controlled to advance a specific translation distance through screw transmission, so that corresponding printing raw materials are extruded.

Further, the raw material container is a replaceable injector.

Furthermore, the injector is connected with the adapter through two pressing plates, and the pushing end of the injector is connected with the pushing plate of the module through the pressing plates.

Further, the mechanical arm is a 6-axis mechanical arm and is used for accurately controlling the printing position and the printing direction of the injection needle.

Further, the curing light source specifically adopts blue light.

Compared with the prior art, the utility model, following advantage and beneficial effect have:

1. the utility model discloses a arm drives and beats printer head and directly prints the restoration at the direct normal position of cartilage defect department, and the process is simple, and artifical intervention time is short, and 6 arm normal position 3D printing techniques through digital means control can realize the high accuracy normal position 3D of multiple biomaterial, multiple structure and print accurate restoration.

2. The utility model discloses an use the syringe to store raw and other materials, have convenient change, store easily, advantages such as the material is controllable, print different materials and only need directly change the syringe and need not change all the other mechanisms of printer.

3. The utility model extrudes the material through the module, so that the raw material is supplied uniformly and orderly, and the material can be pumped back through the module after the printing is finished, and meanwhile, the feeding structure is compact; utility model uses 6 arms to drive feedway and replaces traditional hand-held type 3D print gun, and it is high to print the precision, and it is fast to print speed.

4. The utility model discloses a blue light that optic fibre sent blue light source spreads into lens focus blue light into, makes the blue light focus shine on the printing material of syringe needle, makes energy density higher, and the coagulation range is more accurate.

Drawings

FIG. 1 is an overall structure of the device of the present invention;

FIG. 2 is a partial view of a printhead of the apparatus of the present invention;

FIG. 3 is a partial view of the tee head of the present invention;

FIG. 4 is a flow chart of the operation of the apparatus of the present invention;

the reference numbers illustrate: 1-a mechanical arm; 2-a switching frame; 3-a blue light source; 4-an optical fiber; 5-module group; 6-pushing the board; 7-pressing a plate; 8-a syringe; 9-three-way head; 10-injection needle; 11-lens.

Detailed Description

The present invention will be described in further detail with reference to the following examples and drawings, but the present invention is not limited thereto.

Examples

As shown in fig. 1, fig. 2 and fig. 3, the utility model discloses an in-situ 3D printing cartilage repair device, including arm 1, adapter 2, blue light source 3, optic fibre 4, module 5, pushing plate 6, clamp plate 7, syringe 8, tee joint 9, syringe needle 10 and lens 11, lens 11 passes through the U-shaped draw-in groove to be fixed inside tee joint 9, tee joint 9 passes through threaded connection with optic fibre 4, optic fibre 4 passes through threaded connection with blue light source 3, blue light source 3 passes through bolted connection with adapter 2, module 5 passes through bolt and nut cooperation with adapter 2 and is connected, pushing plate 6 passes through bolt and nut with module 5 and is connected, syringe 8 passes through clamp plate 7 with the module and is connected, syringe needle 10 passes through threaded connection with syringe 8, adapter 2 passes through bolted connection with arm 1; the injector 8 is connected with the switching frame through two pressing plates 7, and the extrusion end of the injector 8 is connected with the pushing plate of the module 5 through the pressing plates 7.

In this embodiment, the utility model discloses the device is connected with the main control board, and the work of cooperation main control board.

As shown in fig. 2, in this embodiment, the module includes a stepping motor, a guide rail, a sliding table, a screw rod, a coupler, and a bracket, the stepping motor is connected to the screw rod through the coupler, the stepping motor and the guide rail are connected to the bracket through bolts and nuts, the sliding table and the guide rail are matched to enable the sliding table to slide on the guide rail, and the sliding table and the screw rod transmit power through a screw pair; the stepping motor rotates by a specific angle under the control of the main control board, the pushing plate is controlled to push a specific translation distance through screw transmission, so that corresponding printing raw materials are accurately extruded, and the translation distance of the pushing end is controlled by controlling the rotation angle of the stepping motor, so that the extrusion amount of the repairing materials is controlled. As shown in fig. 1, the robot is a 6-axis robot for precisely controlling the printing position and the printing direction of the injection needle.

In this embodiment, as shown in fig. 3, the three-way head converges the blue light generated by the blue light source through the lens, so that the generated blue light is emitted to the top end of the injection needle in a concentrated manner, and the final focusing point is matched with the printing position of the injection needle head.

The cartilage repair process based on the above embodiment is adopted, as shown in fig. 4, and includes the following steps:

s1, scanning the damaged part of tissue by using medical imaging equipment, establishing a physical model of the damaged part of the tissue and a part to be repaired model on computer software, slicing the software, generating corresponding printing programs according to different conditions, and importing the programs into a main control board;

s2, the syringe filled with the repairing raw materials is mounted on the adapter bracket through the pressing plate, the rotation angle of the stepping motor of the module is controlled, the pressing plate is enabled to be attached to the extrusion end of the syringe, the injection needle is enabled to flow out a small amount of repairing materials, and therefore no materials flow out after printing is started is avoided.

And S3 and 6-axis mechanical arms accurately make corresponding actions under the control of the main control board, and move the injection needle to the initial position and the initial direction of printing.

S4, accurately pushing the injector by a pushing plate under the control of a main control board through a stepping motor, pushing the raw materials in the injector into a three-way head and an injection needle, enabling the raw materials to flow out of the top of the injection needle, and finally focusing blue light on the top of the injection needle through an optical fiber and a lens to realize that the repair raw materials are solidified by photopolymerization under the irradiation of the focused blue light;

s5, accurately matching the 6-axis mechanical arm with the module under the control of the main control board, accurately sending the repair raw material to the cartilage damage position and completing photopolymerization curing;

s6, printing layer by layer according to the printing program generated by the slicing software until printing is finished, and realizing digital accurate repair of cartilage damage;

s7, after cartilage repair printing is finished, the stepping motor is controlled to rotate reversely, the pushing plate is made to pull the pushing end of the injector reversely, and therefore the purpose that materials stop being supplied immediately after printing is finished is achieved.

In order to better show the technical scheme of the present invention, the repair of the knee cartilage tissue is taken as an example for further explanation. Tissue repair in organisms is extremely complex and difficult to repair. The conditions of the same part of different organisms and different parts of the same organism are different, and the repairing precision must be ensured to ensure that the repaired part can reach the complete rehabilitation state, otherwise, the situation is opposite. The doctor can repair tissues by holding the biological gun by hand, and although the doctor can deal with complex conditions, the precision of the doctor cannot be guaranteed; the common three-axis printer is matched with the biological gun, although the precision is guaranteed, the three-axis printer cannot adapt to the repair of a curved surface structure with a complex tissue; and the utility model discloses on the basis of having guaranteed the restoration precision, have the ability of solving complicated repair again. In particular, image registration needs to be done automatically, in real-time, for clinical utility. To achieve this goal, it is necessary to be able to measure the geometric information of the surgical object in real time during the operation. This embodiment adopts the ultrasonic imaging technique, combines robot joint position sensor information to carry out quantitative measurement to the environment in the art, adopts ultrasonic sensor to combine robot kinematics equation to accomplish bone surface shape and draws, can reach the penetrating effect of the different degree of depth through adjusting the frequency of ultrasonic wave, can use the supersound to acquire the bone surface information by tissue parcel to draw three-dimensional characteristic shape. And after the surface shape of the operation object is obtained, performing curved surface matching by adopting a shape matching algorithm to complete mapping between an image coordinate system and a robot coordinate system. And (3) leading the repair model into corresponding printing software to generate a corresponding driving signal, so that the 6-axis mechanical arm moves, and accurately and efficiently repairing the cartilage tissue at the damaged position according to the optimal 3D in-situ repair printing track.

It should also be noted that in this specification, terms such as "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An in-situ 3D printing cartilage repair device is connected with a main control board and is characterized by comprising a lens, a raw material container, a curing light source, a switching frame, an optical fiber, a three-way head, a pushing plate, a module, an injection needle, a pressing plate and a mechanical arm;

2. The in-situ 3D printing cartilage repair device according to claim 1, wherein the module comprises a stepping motor, a guide rail, a sliding table, a screw rod, a coupler and a support, the stepping motor is connected with the screw rod through the coupler, the stepping motor and the guide rail are connected with the support through a bolt and a nut, the sliding table and the guide rail slide on the guide rail through matching, and the sliding table and the screw rod transmit power through a screw pair.

3. The in-situ 3D printing cartilage repair device according to claim 2, wherein the stepping motor rotates a specific angle under the control of the main control board, and the pushing plate is controlled to advance a specific translation distance through screw transmission, so as to extrude a corresponding printing raw material.

4. The in situ 3D printing cartilage repair device according to claim 1, wherein the raw material container is a replaceable syringe.

5. The in-situ 3D printing cartilage repair device according to claim 4, wherein the injector is connected with the adapter through two pressing plates, and the pushing end of the injector is connected with the pushing plate of the module through the pressing plates.

6. The in-situ 3D printing cartilage repair device according to claim 1, wherein the mechanical arm is a 6-axis mechanical arm for precisely controlling the printing position and the printing direction of the injection needle.

7. The in situ 3D printed cartilage repair device of claim 1 wherein the curing light source is blue light.