FR3087703B1 - Systeme de bio-impression robotise - Google Patents

Systeme de bio-impression robotise Download PDF

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Publication number
FR3087703B1
FR3087703B1 FR1859891A FR1859891A FR3087703B1 FR 3087703 B1 FR3087703 B1 FR 3087703B1 FR 1859891 A FR1859891 A FR 1859891A FR 1859891 A FR1859891 A FR 1859891A FR 3087703 B1 FR3087703 B1 FR 3087703B1
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FR
France
Prior art keywords
bio
objects
biological
target
printing system
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
FR1859891A
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English (en)
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FR3087703A1 (fr
Inventor
Bertrand Viellerobe
Fabien Guillemot
Bouffant Evarzeg Le
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Poietis SAS
Original Assignee
Poietis SAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to FR1859891A priority Critical patent/FR3087703B1/fr
Application filed by Poietis SAS filed Critical Poietis SAS
Priority to JP2021522457A priority patent/JP2022505792A/ja
Priority to KR1020217015701A priority patent/KR20210081406A/ko
Priority to EP19813628.5A priority patent/EP3870447A1/fr
Priority to US17/288,467 priority patent/US20210354381A1/en
Priority to CN201980068583.2A priority patent/CN112930263A/zh
Priority to PCT/FR2019/052542 priority patent/WO2020084263A1/fr
Publication of FR3087703A1 publication Critical patent/FR3087703A1/fr
Application granted granted Critical
Publication of FR3087703B1 publication Critical patent/FR3087703B1/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
    • B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
    • B29C64/227—Driving means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
    • B29C64/10—Processes of additive manufacturing
    • B29C64/106—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/003—Programme-controlled manipulators having parallel kinematics
    • B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
    • B25J9/0051—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1684—Tracking a line or surface by means of sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
    • B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
    • B29C64/205—Means for applying layers
    • B29C64/209—Heads; Nozzles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
    • B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
    • B29C64/245—Platforms or substrates
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
    • B29C64/30—Auxiliary operations or equipment
    • B29C64/386—Data acquisition or data processing for additive manufacturing
    • B29C64/393—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
    • 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
    • B33Y10/00—Processes of additive manufacturing
    • 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
    • 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
    • B33Y50/00—Data acquisition or data processing for additive manufacturing
    • B33Y50/02—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
    • 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
    • B33Y70/00—Materials specially adapted for additive manufacturing
    • 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
    • C12M21/00—Bioreactors or fermenters specially adapted for specific uses
    • C12M21/08—Bioreactors or fermenters specially adapted for specific uses for producing artificial tissue or for ex-vivo cultivation of tissue
    • 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
    • C12M29/00—Means for introduction, extraction or recirculation of materials, e.g. pumps
    • C12M29/06—Nozzles; Sprayers; Spargers; Diffusers
    • 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
    • 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
    • C12M41/00—Means for regulation, monitoring, measurement or control, e.g. flow regulation
    • C12M41/48—Automatic or computerized control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
    • B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
    • B29C64/264—Arrangements for irradiation
    • B29C64/268—Arrangements for irradiation using laser beams; using electron beams [EB]

Abstract

L'invention se rapporte à un système de bio-impression pour la fabrication d'un matériau biologique structuré, à partir de matériaux dont une partie au moins est constituée de particules biologiques (cellules et dérivés cellulaires) comprenant : a) un ensemble d'impression contenant au moins une tête d'impression d'objets d'intérêt biologique et au moins une cible, b) une source d'alimentation de ladite tête d'impression en objets d'intérêt biologique, c) un moyen de bio-impression desdits objets d'intérêt biologique, d) un moyen de déplacement relatif de la tête d'impression par rapport à la cible, caractérisé en ce que ledit moyen de déplacement est constitué par un robot commandant le déplacement de ladite cible selon six axes, une au moins desdites têtes d'impression étant fixe pendant la phase d'impression.
FR1859891A 2018-10-25 2018-10-25 Systeme de bio-impression robotise Active FR3087703B1 (fr)

Priority Applications (7)

Application Number Priority Date Filing Date Title
FR1859891A FR3087703B1 (fr) 2018-10-25 2018-10-25 Systeme de bio-impression robotise
KR1020217015701A KR20210081406A (ko) 2018-10-25 2019-10-24 로봇화 바이오 프린팅 시스템
EP19813628.5A EP3870447A1 (fr) 2018-10-25 2019-10-24 Systeme de bio-impression robotise
US17/288,467 US20210354381A1 (en) 2018-10-25 2019-10-24 Robotic bioprinting system
JP2021522457A JP2022505792A (ja) 2018-10-25 2019-10-24 ロボット化されたバイオプリンティングシステム
CN201980068583.2A CN112930263A (zh) 2018-10-25 2019-10-24 自动化生物打印系统
PCT/FR2019/052542 WO2020084263A1 (fr) 2018-10-25 2019-10-24 Systeme de bio-impression robotise

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1859891A FR3087703B1 (fr) 2018-10-25 2018-10-25 Systeme de bio-impression robotise

Publications (2)

Publication Number Publication Date
FR3087703A1 FR3087703A1 (fr) 2020-05-01
FR3087703B1 true FR3087703B1 (fr) 2020-12-04

Family

ID=66166052

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1859891A Active FR3087703B1 (fr) 2018-10-25 2018-10-25 Systeme de bio-impression robotise

Country Status (7)

Country Link
US (1) US20210354381A1 (fr)
EP (1) EP3870447A1 (fr)
JP (1) JP2022505792A (fr)
KR (1) KR20210081406A (fr)
CN (1) CN112930263A (fr)
FR (1) FR3087703B1 (fr)
WO (1) WO2020084263A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112936230B (zh) * 2021-03-25 2021-12-14 南京航空航天大学 一种多机器人协同一体化制造装置及其工作方法

Family Cites Families (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009040352A1 (fr) * 2007-09-24 2009-04-02 Berner Fachhochschule für Technik und Informatik HTI Dispositif pour le dépôt de couches
ES2671594T3 (es) * 2010-03-04 2018-06-07 INSERM (Institut National de la Santé et de la Recherche Médicale) Puesto de bioimpresión, ensamblaje que comprende dicho puesto de bioimpresión y método de bioimpresión
US20150037445A1 (en) * 2013-07-31 2015-02-05 Organovo, Inc. Automated devices, systems, and methods for the fabrication of tissue
US10119108B2 (en) * 2013-08-01 2018-11-06 Sartorius Stedim Biotech Gmbh Manufacturing within a single-use container
US9505173B2 (en) 2013-08-01 2016-11-29 Sartorius Stedim Biotech Gmbh Single-use biological 3 dimensional printer
EP3656557B1 (fr) 2013-10-11 2021-12-08 Advanced Solutions Life Sciences, LLC Système et poste de travail pour la conception, la fabrication et ensemble de constructions de biomatériaux
US9764515B2 (en) 2014-05-01 2017-09-19 Musc Foundation For Research Development Multidispensor cartesian robotic printer
JP6239456B2 (ja) 2014-07-18 2017-11-29 サムスン エレクトロニクス カンパニー リミテッド 蛍光体およびその製造方法
FR3030361B1 (fr) 2014-12-17 2017-01-20 Univ Bordeaux Procede d'impression d'elements biologiques par laser et dispositif pour sa mise en oeuvre
FR3030360B1 (fr) 2014-12-17 2018-07-13 Universite de Bordeaux Procede d'impression par laser et dispositif pour sa mise en oeuvre
JP5940712B1 (ja) * 2015-05-25 2016-06-29 Dmg森精機株式会社 加工機械
JP6677469B2 (ja) * 2015-09-11 2020-04-08 株式会社安川電機 検体処理システムおよび検体処理方法
US10926454B2 (en) 2016-05-20 2021-02-23 Sartorius Stedim Biotech Gmbh Dispensing device and system for biological products
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JP2018000007A (ja) * 2016-06-27 2018-01-11 株式会社デンソーウェーブ 材料収容ボックス
CN106264796B (zh) * 2016-10-19 2018-04-06 泉州装备制造研究所 一种基于多轴联动控制和机器视觉测量的3d打印系统
SE542653C2 (en) * 2017-01-13 2020-06-23 Cellink Ab A 3D bioprinter and a 3D bioprinter system
US11524451B2 (en) * 2017-11-10 2022-12-13 General Electric Company Additive manufacturing apparatus having a stabilized build platform and methods of its use
GB201804215D0 (en) * 2018-03-16 2018-05-02 Rolls Royce Plc Applying a cladding layer to a component

Also Published As

Publication number Publication date
WO2020084263A1 (fr) 2020-04-30
JP2022505792A (ja) 2022-01-14
CN112930263A (zh) 2021-06-08
EP3870447A1 (fr) 2021-09-01
FR3087703A1 (fr) 2020-05-01
US20210354381A1 (en) 2021-11-18
KR20210081406A (ko) 2021-07-01

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