阅读说明：本技术 一种高精度的集合多种3d生物打印的集成装置 (High-precision integrated device for integrating multiple 3D biological printing ) 是由 乔之光 张醒 韩煜 戴尅戎 于 2019-11-15 设计创作，主要内容包括：本发明公开了一种高精度的集合多种3D生物打印的集成装置。本发明将多种生物材料或细胞水凝胶材料装入相应打印方式的打印喷头料筒中,在PC控制系统中设置好工艺流程步骤及各步骤对应的路径模型和打印参数条件；装置通过交替更换打印喷头,在不同部位打印预设的材料及结构,在打印过程中,通过实时调控Z轴运动使打印针头与物体打印层之间的高度固定,同时在静电打印过程中,调整打印平台使打印层高度与电导池液面高度一致,在固定高度的稳定电场下实现了高精度和高堆积度的样品制备,实现跨种类跨材料跨打印条件的联合高精度生物三维打印。(The invention discloses an integrated device for high-precision integration of multiple 3D biological printing. The invention loads a plurality of biological materials or cell hydrogel materials into a printing nozzle charging barrel with corresponding printing modes, and sets process flow steps, path models corresponding to the steps and printing parameter conditions in a PC control system; the device prints the shower nozzle through changing in turn, prints preset material and structure at different positions, at the printing in-process, through the high fixed between the layer of real-time regulation and control Z axle motion messenger printing syringe needle and object printing, simultaneously at the electrostatic printing in-process, adjustment print platform makes and prints layer height and electric conductivity pool liquid level height unanimous, has realized the sample preparation of high accuracy and high pile up degree under the stable electric field of fixed height, realizes striding the type and strides the biological three-dimensional printing of joint high accuracy of material stride printing condition.)

1. An integrated device for high-precision integration of multiple 3D bioprints comprises a printing cabin (1), and is characterized in that: the printing device is characterized in that a gantry moving platform (2) is installed inside the printing cabin (1), a Z-axis driver (3) is installed on the gantry moving platform (2), a printing nozzle (4) is installed at the position on the left side of the printing cabin (1), a nozzle adsorption device (5) matched with the printing nozzle (4) is installed on the Z-axis driver (3), a conductance cell (8) is installed on the gantry moving platform (2) and below the nozzle adsorption device (5), a laser range finder (6) is installed on the left side face of the conductance cell (8), a printing platform (7) and a printing platform driver (12) are installed on the bottom face of the conductance cell (8), a temperature control system (9) is installed inside the printing cabin (1) and below the gantry moving platform (2), and a high-voltage static electricity generating system (10) is installed inside the printing cabin (1) and on the left side of the temperature control system (9), print the inside of cabin (1) and be located the right side of high-voltage static electricity generation system (10) and install control panel (11), the right side of printing cabin (1) is provided with PC control system (13), the right side of printing cabin (1) and the top that is located PC control system (13) are provided with atmospheric pressure control system (14).

2. The high precision integrated apparatus for assembling multiple 3D bio-prints according to claim 1, wherein: the printing device comprises a printing cabin (1), a gantry motion platform (2), a Z-axis driver (3), a printing nozzle (4), a nozzle adsorption device (5), a laser range finder (6), a printing platform (7), a conductance cell (8) and a printing platform driver (12) which form a printing device main body.

3. The high precision integrated apparatus for assembling multiple 3D bio-prints according to claim 2, wherein: the printing cabin (1) is an outer layer protection cover of the printing device main body, can be subjected to ultraviolet sterilization, and controls the temperature and humidity of the whole printing cabin (1).

4. The high precision integrated apparatus for assembling multiple 3D bio-prints according to claim 1, wherein: the gantry motion platform (2) is connected with the Z-axis driver (3) and the spray head adsorption device (5) and mainly controls the motion of an X axis, a Y axis and a Z axis of the printing spray head (4) during printing.

5. The high precision integrated apparatus for assembling multiple 3D bio-prints according to claim 1, wherein: print shower nozzle (4) and place in printing cabin (1) side, absorb by PC control system (13) control shower nozzle adsorption equipment (5), print shower nozzle (4) and be the metal material, inside has heating jacket, feed cylinder etc. and wherein the feed cylinder is polytetrafluoroethylene or ceramic material, and is whole insulating, high temperature resistant, adds macromolecular material or cell aquogel in the feed cylinder, and the biggest volume is 50 mL.

6. The high precision integrated apparatus for assembling multiple 3D bio-prints according to claim 1, wherein: the spray head adsorption device (5) is controlled by a PC control system (13), corresponding printing spray heads (4) are adsorbed aiming at different process flow steps, the spray head adsorption device (5) is connected with a temperature control system (9), a positive high-voltage static generator and an air pressure control system (14) in a high-voltage static generation system (10), and the PC control system (13) can control the connection and disconnection between the spray head adsorption device (5) and each control system.

7. The high precision integrated apparatus for assembling multiple 3D bio-prints according to claim 1, wherein: the printing spray head (4) comprises an electrostatic spinning spray head (41), a fused deposition spray head (42), a solution/melt near-field direct writing spray head (43), a micro-droplet ink jet spray head (44), a double-cavity coaxial printing spray head (45) and a three-cavity coaxial printing spray head (46).

8. The high precision integrated apparatus for assembling multiple 3D bio-prints according to claim 1, wherein: the laser range finder (6) is used for detecting the upper liquid level of the salt solution in the conductivity cell (8) and the upper height of the printed product.

9. The high precision integrated apparatus for assembling multiple 3D bio-prints according to claim 1, wherein: the printing platform (7) is driven by a printing platform driver (12) to move vertically along the Z axis.

10. The high precision integrated apparatus for assembling multiple 3D bio-prints according to claim 1, wherein: the conductivity cell (8) is connected with a negative high-voltage static generator in a high-voltage static generating system (10), a salt solution is stored in the conductivity cell (8), the liquid level of the salt solution is always consistent with the height of the upper layer of a printed product, the salt solution is sodium chloride, potassium chloride, calcium chloride solution and the like, the conductivity can be adjusted by adjusting the concentration of the salt solution, and the conductivity adjusting range is 1-500 mS/m.

11. The high precision integrated apparatus for assembling multiple 3D bio-prints according to claim 1, wherein: the temperature control system (9) is a thermocouple type electric heating device and is used for controlling the heating temperature of a heating sleeve in the spray head, and the adjusting range is from room temperature to 280 ℃.

12. The high precision integrated apparatus for assembling multiple 3D bio-prints according to claim 1, wherein: the high-voltage static electricity generating system (10) comprises a negative/positive high-voltage static electricity generator, the voltage regulating range is 0-50 kV, wherein the negative voltage is connected with the conductance cell (8), and the positive voltage is connected with the spray head adsorption device (5).

13. The high precision integrated apparatus for assembling multiple 3D bio-prints according to claim 1, wherein: the control panel (11) can display the regulated temperature and voltage values.

14. The high precision integrated apparatus for assembling multiple 3D bio-prints according to claim 1, wherein: the PC control system (13) mainly controls the operation of equipment through software, and comprises the steps of automatically controlling the motion of each platform, the switching of a spray head and the adjustment and the on-off of each control system by combining a three-dimensional model and printing condition parameters.

15. The high precision integrated apparatus for assembling multiple 3D bio-prints according to claim 1, wherein: the air pressure control system (14) forms air pressure by supplying air or inert gas and the like, and the air pressure adjusting range is 0-5 MPa.

Technical Field

The invention relates to the technical field of 3D (three-dimensional) biological printing, in particular to an integrated device for high-precision integration of various 3D biological printing.

Background

In the last 90 s, 3D bioprinting was mostly used to prepare some medical models and in vitro medical devices. Scientists have begun printing human implants (e.g., prosthetic grafts, artificial ear grafts) and tissue engineering scaffolds, etc. using biocompatible materials since the 21 st century. In recent decades, more and more scientists and researchers invest in the fields of three-dimensional biological printing and the like to prepare in-vitro bionic three-dimensional biological structures. With the continuous development of the 3D biological printing process, printing methods such as electrostatic spinning, fused deposition, solution/melt near-field direct writing, microdroplet ink jet, coaxial printing and the like exist at the present stage, and the methods are based on extrusion or spraying methods, have good printing precision and are widely applied to the fields of tissue engineering, medicine carrying, medical dressings and the like. However, some problems still exist in the devices to be solved, for example, most of the near-field direct-writing devices on the market can only regulate and control X, Y axes, and the feeding amount of the Z axis can only be set in advance but cannot be regulated and controlled in real time; the phenomenon of electric field instability along with material accumulation occurs in printing modes such as electrostatic spinning, near-field direct writing, droplet ink jet and the like, so that the accumulation height and the accuracy are limited. Further, the method is limited in that each printing mode has respective applicable materials and printing conditions, and cannot be realized by the same equipment. Therefore, how to combine various printing methods with each other and exert their respective advantages is a focus of research.

The traditional biological three-dimensional printing equipment based on the electrostatic spinning technology comprises electrostatic spinning, near-field direct writing of solution/melt, microdroplet ink-jet and the like, the Z-axis feeding amount cannot be regulated and controlled in real time mostly, a constant value can be set only before printing, the preparation of a three-dimensional structure body is realized based on two-dimensional graph layering accumulation, and the requirement for high-precision three-dimensional entity printing cannot be met.

In addition, due to the continuous accumulation of materials, the biological three-dimensional printing devices cannot form a stable or constant electric field by simply adjusting the voltage according to the height, so that the precision of a printed product is seriously influenced, and the material accumulation height is limited.

The bionic demand of the organization structure not only lies in the simulation of external contour and overall performance, but also continuously pursues the customized bionic of the refining bionic and structural functions of each part of the organization, the demand of high-precision positioning can not be met only by utilizing the existing biological three-dimensional printing equipment to carry out alternate printing, and the time and the labor are consumed, so that the multi-printing type integrated device with the cross-scale, cross-material and cross-printing conditions needs to be researched and developed urgently.

Disclosure of Invention

The invention aims to provide an integrated device for high-precision integration of multiple 3D biological printing, which realizes real-time regulation and control of Z-axis feeding amount, forms a more stable electric field by regulating the liquid level height of a conductance pool, realizes high-precision and high-accumulation three-dimensional entity printing, further implements multiple 3D biological printing methods on the same equipment, improves positioning precision and system integration level, realizes combined high-precision printing of cross-scale and cross-material and cross-printing conditions, and solves the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: an integrated device for high-precision integration of multiple 3D biological printing comprises a printing cabin, wherein a gantry moving platform is arranged inside the printing cabin, a Z-axis driver is arranged on the gantry moving platform, a printing nozzle is arranged on the gantry moving platform and positioned on the left side of the Z-axis driver, a nozzle adsorption device matched with the printing nozzle is arranged on the Z-axis driver, a conductance cell is arranged on the gantry moving platform and positioned below the nozzle adsorption device, a laser range finder is arranged on the left side surface of the conductance cell, a printing platform and a printing platform driver are arranged on the bottom surface of the conductance cell, a temperature control system is arranged inside the printing cabin and positioned below the gantry moving platform, a high-voltage static electricity generation system is arranged inside the printing cabin and positioned on the left side of the temperature control system, and a control panel is arranged inside the printing cabin and positioned on the right side of the high-voltage static electricity generation system, the printing platform is characterized in that a printing platform driver is arranged inside the printing platform, a PC control system is arranged on the right side of the printing cabin, and an air pressure control system is arranged on the right side of the printing cabin and above the PC control system.

Preferably, the printing cabin, the gantry motion platform, the Z-axis driver, the printing nozzle, the nozzle adsorption device, the laser range finder, the printing platform, the conductance cell and the printing platform driver form a printing device main body.

Preferably, the printing cabin is an outer layer protection cover of the printing device main body, ultraviolet sterilization can be carried out, and the temperature and the humidity of the whole printing cabin are controlled.

Preferably, the gantry motion platform is connected with the Z-axis driver and the nozzle adsorption device and mainly controls the X-axis, the Y-axis and the Z-axis of the printing nozzle during printing.

Preferably, the printing nozzle is placed on the side face of the printing cabin and is sucked by the nozzle adsorption device controlled by the PC control system, the printing nozzle is made of metal, a heating sleeve, a charging barrel and the like are arranged in the printing nozzle, the charging barrel is made of polytetrafluoroethylene or ceramic materials, the printing nozzle is integrally insulated and high-temperature resistant, a high polymer material or cell hydrogel is added into the charging barrel, and the maximum volume is 50 mL.

Preferably, the nozzle adsorption device is controlled by a PC control system, corresponding printing nozzles are adsorbed by aiming at different process flow steps, the nozzle adsorption device is connected with the positive high-voltage static generator and the air pressure control system in the temperature control system and the high-voltage static generation system, and the PC control system can control the connection and disconnection between the nozzle adsorption device and each control system.

Preferably, the printing spray head comprises an electrostatic spinning spray head, a fused deposition spray head, a solution/melt near-field direct writing spray head, a micro-droplet ink jet spray head, a double-cavity coaxial printing spray head and a three-cavity coaxial printing spray head.

Preferably, the laser range finder is used for detecting the upper liquid level of the salt solution in the conductivity cell and the upper height of the printed product.

Preferably, the printing platform is driven by a printing platform driver to move vertically along the Z-axis.

Preferably, the conductivity cell is connected with a negative high-voltage static generator in the high-voltage static generation system, the conductivity cell stores salt solution, the liquid level of the salt solution is always consistent with the height of the upper layer of the printed product, the salt solution is sodium chloride, potassium chloride, calcium chloride solution and the like, the conductivity can be adjusted by adjusting the concentration of the salt solution, and the conductivity adjustment range is 1-500 mS/m.

Preferably, the temperature control system is a thermocouple type electric heating device and is used for controlling the heating temperature of the heating jacket in the spray head, and the adjusting range is from room temperature to 280 ℃.

Preferably, the high-voltage static electricity generating system comprises a negative/positive high-voltage static electricity generator, the voltage regulating range is 0-50 kV, the negative pressure is connected with the conductivity cell, and the positive pressure is connected with the spray head adsorption device.

Preferably, the control panel can display the regulated temperature and voltage values.

Preferably, the PC control system mainly controls the operation of the equipment through software, and comprises the steps of automatically controlling the motion of each platform, the switching of the spray heads and the adjustment and the on-off of each control system by combining the three-dimensional model and the printing condition parameters.

Preferably, the air pressure control system forms air pressure by supplying air, inert gas or the like, and the air pressure is adjusted within a range of 0 to 5 MPa.

Compared with the prior art, the invention has the beneficial effects that:

the invention provides an integrated device for high-precision integration of multiple 3D biological printing, which is characterized in that multiple biological materials or cell hydrogel materials are loaded into a printing nozzle charging barrel in a corresponding printing mode before use, and process flow steps, path models corresponding to the steps and printing parameter conditions are set in a PC control system; when the device is used, the printing nozzles are replaced alternately, preset materials and structures are printed at different positions, in the printing process, the printing needle head and the object are made to be highly fixed between printing layers through real-time regulation and control of Z-axis movement, meanwhile, in the electrostatic printing process, the printing layer is made to be as high as the liquid level of the electric conduction pool through adjustment of the printing platform, high-precision and high-accumulation-degree sample preparation is achieved under a stable electric field with fixed height, the device is convenient to operate, and the combined high-precision biological three-dimensional printing of the cross-species cross-material cross-printing condition is further achieved.

Drawings

FIG. 1 is a schematic structural view of a front view of the present invention;

FIG. 2 is a schematic view of a print head according to the present invention;

FIG. 3 is a schematic view of a printing situation according to the present invention;

FIG. 4 is a schematic view of a mid-span scale fiber scaffold of example 1 of the present invention;

FIG. 5 is a schematic view of a complex biological sample in example 2 of the present invention;

FIG. 6 is a schematic view of nanofibers according to example 3 of the present invention.

In the figure: the device comprises a printing cabin 1, a gantry motion platform 2, a Z-axis driver 3, a printing spray head 4, an electrostatic spinning spray head 41, a fused deposition spray head 42, a solution/solution near-field direct-writing spray head 43, a microdroplet ink-jet spray head 44, a double-cavity coaxial printing spray head 45, a three-cavity coaxial printing spray head 46, a spray head adsorption device 5, a laser range finder 6, a printing platform 7, a conductance cell 8, a temperature control system 9, a high-voltage electrostatic generation system 10, a control panel 11, a printing platform driver 12, a PC control system 13 and an air pressure control system 14.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

① - ⑥ in fig. 2 are an electrostatic spinning spray head 41, a fused deposition spray head 42, a solution/melt near-field direct-writing spray head 43, a droplet ink-jet spray head 44, a double-cavity coaxial printing spray head 45 and a three-cavity coaxial printing spray head 46 in sequence, and fig. 3 is the printing conditions of electrostatic spinning, fused deposition or solution/melt near-field direct-writing, droplet ink-jet, double-cavity coaxial printing and three-cavity coaxial printing in sequence.

Referring to fig. 1-3, the present invention provides a technical solution: an integrated device for high-precision integration of multiple 3D biological printing comprises a printing cabin 1, a gantry motion platform 2 is arranged inside the printing cabin 1, a Z-axis driver 3 is arranged on the gantry motion platform 2, a printing nozzle 4 is arranged on the gantry motion platform 2 and on the left side of the Z-axis driver 3, a nozzle adsorption device 5 matched with the printing nozzle 4 is arranged on the Z-axis driver 3, a conductance cell 8 is arranged on the gantry motion platform 2 and below the nozzle adsorption device 5, a laser range finder 6 is arranged on the left side surface of the conductance cell 8, a printing platform 7 and a printing platform driver 12 are arranged on the bottom surface of the conductance cell 8, a temperature control system 9 is arranged inside the printing cabin 1 and below the gantry motion platform 2, a high-voltage static electricity generation system 10 is arranged inside the printing cabin 1 and on the left side of the temperature control system 9, a control panel 11 is arranged inside the printing cabin 1 and on the right side of the high-voltage static electricity generating system 10, a printing platform driver 12 is arranged inside the printing platform 7, a PC control system 13 is arranged on the right side of the printing cabin 1, and an air pressure control system 14 is arranged on the right side of the printing cabin 1 and above the PC control system 13.

Specifically, the printing cabin 1, the gantry motion platform 2, the Z-axis driver 3, the printing nozzle 4, the nozzle adsorption device 5, the laser range finder 6, the printing platform 7, the conductance cell 8 and the printing platform driver 12 form a printing device main body.

Specifically, printing cabin 1 is the outer safety cover of printing device main part, can carry out ultraviolet sterilization, and the holistic temperature in control printing cabin 1 and humidity.

Specifically, the gantry motion platform 2 is connected with a Z-axis driver 3 and a nozzle adsorption device 5, and mainly controls the movement of an X-axis, a Y-axis and a Z-axis of a printing nozzle 4 during printing.

Specifically, print shower nozzle 4 and place in printing cabin 1 side, absorb by PC control system 13 control shower nozzle adsorption equipment 5, print shower nozzle 4 and be the metal material, inside has heating jacket, feed cylinder etc. and wherein the feed cylinder is polytetrafluoroethylene or ceramic material, and is wholly insulating, high temperature resistant, adds macromolecular material or cell aquogel in the feed cylinder, and the volume is 50 mL.

Specifically, the nozzle adsorption device 5 is controlled by the PC control system 13, and adsorbs the corresponding printing nozzles 4 according to different process steps, the nozzle adsorption device 5 is connected to the positive high-voltage electrostatic generator and the air pressure control system 14 in the temperature control system 9 and the high-voltage electrostatic generation system 10, and the PC control system 13 can control the on-off between the nozzle adsorption device 5 and each control system.

Specifically, the printing nozzle 4 includes an electrostatic spinning nozzle 41, a fused deposition nozzle 42, a solution/melt near-field direct writing nozzle 43, a droplet inkjet nozzle 44, a dual-cavity coaxial printing nozzle 45, and a three-cavity coaxial printing nozzle 46.

Specifically, the laser range finder 6 is used to detect the upper liquid level of the salt solution in the conductivity cell 8 and the upper height of the printed product.

Specifically, the printing table 7 is driven to move vertically along the Z axis by a printing table driver 12.

Specifically, the conductivity cell 8 is connected to a negative high-voltage electrostatic generator in the high-voltage electrostatic generation system 10, a salt solution is stored in the conductivity cell 8, the liquid level of the salt solution is always consistent with the height of the upper layer of the printed product, the salt solution is a sodium chloride solution, a potassium chloride solution, a calcium chloride solution or the like, the conductivity can be adjusted by adjusting the concentration of the salt solution, and the conductivity is 500 mS/m.

Specifically, the temperature control system 9 is a thermocouple type electric heating device for controlling the heating temperature of the heating jacket in the nozzle, and the temperature is set to room temperature.

Specifically, the high-voltage electrostatic generating system 10 includes a negative/positive high-voltage electrostatic generator with a voltage of 50kV, wherein the negative voltage is connected to the conductance cell 8, and the positive voltage is connected to the nozzle adsorption device 5.

In particular, the control panel 11 may display the regulated temperature and voltage values.

Specifically, the PC control system 13 mainly controls the operation of the device through software, including automatically controlling the movement of each platform, the switching of the nozzles, and the adjustment and on-off of each control system by combining the three-dimensional model and the printing condition parameters.

Specifically, the air pressure control system 14 forms an air pressure of 0 to 5MPa by supplying air, inert gas, or the like.