阅读说明：本技术 双自由度旋转机构和体内原位生物打印装置 (Double-freedom-degree rotating mechanism and in-vivo in-situ biological printing device ) 是由 徐弢 赵文祥 于 2021-08-19 设计创作，主要内容包括：本发明提供的双自由度旋转机构,第一旋转体可旋转的连接在支撑体的第一端,第二旋转体可旋转的连接在第一旋转体上,第一旋转体和第二旋转体的旋转轴线垂直。第一旋转体的旋转通过第一线驱动装置驱动,第二旋转体的旋转通过第二线驱动装置驱动,如此便实现了双自由度旋转。本发明中的驱动装置均采用线驱动,驱动线体积小,且可任意转换方向传输动力,可降低双自由度旋转机构的体积。本发明提供的体内原位生物打印装置,包括上述的双自由度旋转机构、直线驱动机构和打印溶液输送装置。由于上述的双自由度旋转机构采用线驱动,体积较小,进而降低体内原位生物打印装置的总体积,使其便于伸入人体内进行修复操作。(The invention provides a two-degree-of-freedom rotating mechanism, wherein a first rotating body is rotatably connected to a first end of a supporting body, a second rotating body is rotatably connected to the first rotating body, and the rotating axes of the first rotating body and the second rotating body are vertical. The rotation of the first rotating body is driven by the first linear driving device, and the rotation of the second rotating body is driven by the second linear driving device, so that the two-degree-of-freedom rotation is realized. The driving devices in the invention are all driven by lines, the driving lines have small volume, and the direction can be randomly switched to transmit power, so that the volume of the double-freedom-degree rotating mechanism can be reduced. The in-vivo in-situ biological printing device provided by the invention comprises the two-degree-of-freedom rotating mechanism, the linear driving mechanism and the printing solution conveying device. Because the two-degree-of-freedom rotating mechanism adopts linear driving, the volume is smaller, and further the total volume of the in-vivo in-situ biological printing device is reduced, so that the in-situ biological printing device can be conveniently stretched into a human body for repairing operation.)

1. A two degree-of-freedom rotary mechanism comprising:

a support body;

a first rotating body rotatably connected to a first end of the support body;

the second rotating body is rotationally connected with the first rotating body, and the rotation axis of the first rotating body is perpendicular to that of the second rotating body;

the first wire driving device comprises a first wire winding assembly and a first driving wire, the first wire winding assembly is used for driving one end of the first driving wire to contract, meanwhile, the other end of the first driving wire extends out, and the middle part of the first driving wire is connected with the power input end of the first rotating body in a surrounding mode and is used for driving the first rotating body to rotate;

the second wire driving device comprises a second wire winding assembly and a second driving wire, wherein the second wire winding assembly is used for driving one end of the second driving wire to contract and simultaneously used for driving the other end of the second driving wire to stretch out, and the middle of the second driving wire is connected with the power input end of the second rotator in a surrounding mode and used for driving the second rotator to rotate.

2. The two-degree-of-freedom rotary mechanism of claim 1 wherein the power input end of the first rotating body is provided with a first wire slot, and the middle part of the first drive wire is wound around the outer side of the first wire slot.

3. The two-degree-of-freedom rotating mechanism according to claim 1, wherein a first connecting arm is provided at an end of the second rotating body close to the first rotating body, an end of the first connecting arm far from the second rotating body is rotatably connected to the first rotating body, the rotation axis is perpendicular to the rotation axis of the first rotating body, a second wire slot is provided on the first connecting arm, the axis of the second wire slot is perpendicular to the axis of the first wire slot, and the second driving wire is wound outside the second wire slot.

4. The two degree-of-freedom rotary mechanism of claim 1 further comprising a housing, the first and second wire drives each being located within the housing, the housing being fixedly attached to a second end of the support body opposite the first end.

5. The two-degree-of-freedom rotating mechanism according to claim 4, wherein the supporting body is provided with a first wire hole and a second wire hole communicating the first end and the second end, the first rotating body is provided with a third wire hole penetrating through the first rotating body, the first driving wire penetrates through the first wire hole and is connected with the first rotating body, and the second driving wire penetrates through the second wire hole and the third wire hole and is connected with the second rotating body.

6. The two-degree-of-freedom rotating mechanism according to claim 1, wherein the first winding assembly comprises a first motor, a first gear set and a first winding shaft, the first winding shaft is in transmission connection with the first motor through the first gear set, the first winding shaft is used for being in winding connection with two ends of the first driving wire, and the first winding shaft is used for simultaneously driving one end of the first driving wire to retract and the other end of the first driving wire to extend.

7. The two-degree-of-freedom rotating mechanism according to claim 1, wherein the second winding assembly comprises a second motor, a second gear set and a second winding shaft, the second winding shaft is in transmission connection with the second motor through the second gear set, the second winding shaft is used for being in winding connection with two ends of the second driving wire, and the second winding shaft is used for simultaneously driving one end of the second driving wire to retract and the other end of the second driving wire to extend.

8. The two-degree-of-freedom rotating mechanism according to claim 1, wherein one end of the first rotating body near the support body or one end of the support body near the first rotating body is provided with a first guide wheel assembly capable of changing a middle portion of the first drive wire from extending in a direction parallel to the rotation axis of the first rotating body to extending in a direction perpendicular to the rotation axis of the first rotating body.

9. The two-degree-of-freedom rotary mechanism of claim 1 wherein the end of the first rotary body near the second rotary body is provided with a second guide wheel mechanism for extending the second drive wire from the center of the first rotary body to the edge of the first rotary body.

10. An in vivo in situ bioprinting device, comprising:

a two degree of freedom rotary mechanism as claimed in any one of claims 1 to 9;

a linear driving mechanism for driving the two-degree-of-freedom rotating mechanism to move in a direction parallel to the rotation axis of the first rotating body;

print solution conveyor, including delivery pump, conveyer pipe and printing syringe needle, the setting of printing syringe needle is in the second rotator is kept away from the tip of first rotator one end, conveyer pipe one end with the delivery pump is connected, and the other end passes in proper order the supporter first rotator with the second rotator with the printing syringe needle intercommunication.

Technical Field

The invention relates to the technical field of rotating mechanisms, in particular to a double-degree-of-freedom rotating mechanism and an in-vivo in-situ biological printing device.

Background

Biological three-dimensional printing is a material additive manufacturing technology based on computer assistance, biological ink is stacked layer by layer according to a specified path by means of a biological printer, distribution and combination of biological materials, cells, growth factors and the like in a three-dimensional structure are accurately controlled, and tissues or organs with biological activity are constructed. At present, various tissues such as skin, cartilage, blood vessels, bones and the like are manufactured by utilizing a biological three-dimensional printing technology, but the existing biological three-dimensional printing is a process of printing the tissues in vitro and then transplanting, the process is complicated, and the risks of damage and infection of the printed tissues in the transplanting process are increased.

In order to solve the above problems, there is a need for a device that can be inserted into the body for direct in situ printing, directly in vivo for printing of biological tissue. Such three-dimensional printing devices require a combination of various transmission mechanisms to enable the print head to move along a predetermined path. Most of the existing transmission mechanisms are linear driving mechanisms, rotating mechanisms and the like. Most of the conventional rotating mechanisms use a motor as a power source and use a gear set, a transmission shaft or a transmission belt as a transmission mechanism to drive a rotating body. However, the transmission modes such as the transmission shaft and the transmission belt are large in size, so that the minimally invasive surgery is not facilitated, and when the space of the repaired part is small, the printing device cannot enter the repair device.

Disclosure of Invention

The invention provides a double-degree-of-freedom rotating mechanism and an in-vivo in-situ biological printing device, which are used for solving the defect that the rotating mechanism in the prior art uses a transmission shaft, a transmission belt and the like as a transmission mechanism to cause larger volume and realizing the effect of reducing the volume of the rotating mechanism.

The invention provides a two-degree-of-freedom rotating mechanism, which comprises:

a support body;

a first rotating body rotatably connected to a first end of the support body;

the second rotating body is rotationally connected with the first rotating body, and the rotation axis of the first rotating body is perpendicular to that of the second rotating body;

the first wire driving device comprises a first wire winding assembly and a first driving wire, the first wire winding assembly is used for driving one end of the first driving wire to contract, meanwhile, the other end of the first driving wire extends out, and the middle part of the first driving wire is connected with the power input end of the first rotating body in a surrounding mode and is used for driving the first rotating body to rotate;

the second wire driving device comprises a second wire winding assembly and a second driving wire, wherein the second wire winding assembly is used for driving one end of the second driving wire to contract and simultaneously used for driving the other end of the second driving wire to stretch out, and the middle of the second driving wire is connected with the power input end of the second rotator in a surrounding mode and used for driving the second rotator to rotate.

According to the two-degree-of-freedom rotating mechanism provided by the invention, the power input end of the first rotating body is provided with the first wire slot, and the middle part of the first driving wire is surrounded on the outer side of the first wire slot.

According to the two-degree-of-freedom rotating mechanism provided by the invention, the end of the second rotating body close to the first rotating body is provided with the first connecting arm, the end of the first connecting arm far away from the second rotating body is rotatably connected with the first rotating body, the rotation axis is vertical to the rotation axis of the first rotating body, the first connecting arm is provided with the second wire slot, the axis of the second wire slot is vertical to the axis of the first wire slot, and the second driving wire is wound on the outer side of the second wire slot.

The two-degree-of-freedom rotating mechanism further comprises a shell, the first wire driving device and the second wire driving device are both located in the shell, and the shell is fixedly connected to a second end, opposite to the first end, of the supporting body.

According to the two-degree-of-freedom rotating mechanism provided by the invention, the support body is internally provided with the first wire hole and the second wire hole which are communicated with the first end and the second end, the first rotating body is provided with the third wire hole which penetrates through the first rotating body, the first driving wire penetrates through the first wire hole and is connected with the first rotating body, and the second driving wire penetrates through the second wire hole and the third wire hole and is connected with the second rotating body.

According to the two-degree-of-freedom rotating mechanism provided by the invention, the first winding assembly comprises a first motor, a first gear set and a first winding shaft, the first winding shaft is in transmission connection with the first motor through the first gear set, the first winding shaft is used for being wound and connected with two ends of the first driving wire, and the first winding shaft is used for simultaneously driving one end of the first driving wire to retract and the other end of the first driving wire to extend out.

According to the two-degree-of-freedom rotating mechanism provided by the invention, the second winding assembly comprises a second motor, a second gear set and a second reel, the second reel is in transmission connection with the second motor through the second gear set, the second reel is used for being wound and connected with two ends of the second driving wire, and the second reel is used for simultaneously driving one end of the second driving wire to retract and the other end of the second driving wire to extend out.

According to the two-degree-of-freedom rotating mechanism provided by the invention, the first rotating body is provided with the first guide wheel assembly at one end close to the supporting body or one end close to the first rotating body, and the first guide wheel assembly can enable the middle part of the first driving wire to extend from the direction parallel to the rotating axis of the first rotating body to the direction perpendicular to the rotating axis of the first rotating body.

According to the two-degree-of-freedom rotating mechanism provided by the invention, one end of the first rotating body, which is close to the second rotating body, is provided with the second guide wheel mechanism, and the second guide wheel mechanism is used for enabling the second driving wire to extend from the center of the first rotating body to the edge of the first rotating body.

The invention also provides an in vivo in situ bio-printing device, comprising:

a two degree of freedom rotary mechanism as described in any one of the above;

a linear driving mechanism for driving the two-degree-of-freedom rotating mechanism to move in a direction parallel to the rotation axis of the first rotating body;

print solution conveyor, including delivery pump, conveyer pipe and printing syringe needle, the setting of printing syringe needle is in the second rotator is kept away from the tip of first rotator one end, conveyer pipe one end with the delivery pump is connected, and the other end passes in proper order the supporter first rotator with the second rotator with the printing syringe needle intercommunication.

The invention provides a two-degree-of-freedom rotating mechanism, wherein a first rotating body is rotatably connected to the first end of a supporting body, a second rotating body is rotatably connected to the first rotating body, and the rotating axes of the first rotating body and the second rotating body are vertical. The rotation of first rotator is driven through first drive arrangement, and first rolling line subassembly of first drive arrangement is used for driving the both ends reverse movement of first drive wire, and when drive one end shrink, the drive other end stretches out, makes the middle part unidirectional movement of first drive wire, and the middle part of first drive wire encircles with the power input end of first rotator and is connected, and the middle part unidirectional movement of first drive wire drives first rotator rotation. The rotation of second rotator is driven through second line drive arrangement, and second line drive arrangement's second spiral subassembly is used for driving the both ends reverse movement of second drive line, and when driving one end shrink, the drive other end stretches out, makes the middle part unidirectional movement of second drive line, and the middle part of second drive line is connected with the power input end of second rotator is encircleed, and the middle part unidirectional movement of second drive line drives the rotation of second rotator. Thus, two-degree-of-freedom rotation is realized. The driving devices in the invention are all driven by lines, the driving lines have small volume, and the direction can be randomly switched to transmit power, so that the volume of the double-freedom-degree rotating mechanism can be reduced.

The in-vivo in-situ biological printing device provided by the invention comprises the two-degree-of-freedom rotating mechanism, the linear driving mechanism and the printing solution conveying device. The linear driving mechanism drives the two-degree-of-freedom rotating mechanism to drive the printing needle head to move linearly at the printing position. The two-degree-of-freedom rotating mechanism drives the printing needle to rotate by an angle. The printing solution delivery device is used for delivering repairing or printing solution. Because the two-degree-of-freedom rotating mechanism adopts linear driving, the volume is smaller, and further the total volume of the in-vivo in-situ biological printing device is reduced, so that the in-situ biological printing device can be conveniently stretched into a human body for repairing operation.

Drawings

In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic diagram of a three-dimensional structure of a two-degree-of-freedom rotating mechanism provided by the present invention;

FIG. 2 is a first schematic three-dimensional structure of the connection of the first rotating body, the second rotating body and the supporting body provided by the present invention;

FIG. 3 is a schematic three-dimensional structure diagram of a second guiding wheel mechanism provided by the present invention;

FIG. 4 is a schematic diagram of a three-dimensional structure of a tail end of a second rotating body provided by the present invention;

FIG. 5 is a schematic diagram of a three-dimensional structure of the connection of the first rotating body, the second rotating body and the supporting body provided by the present invention;

FIG. 6 is a schematic three-dimensional structure of a first guide wheel assembly provided by the present invention;

FIG. 7 is a schematic diagram of a three-dimensional structure of a tail end of a first rotating body provided by the present invention;

FIG. 8 is an external three-dimensional block diagram of a first and second wire drive units packaged with a housing provided in accordance with the present invention;

fig. 9 is an external three-dimensional structural view of a first wire driving device and a second wire driving device provided in the present invention;

FIG. 10 is a schematic three-dimensional structure of an in vivo in situ bio-printing device provided by the present invention;

reference numerals:

1: a support body; 2: a first rotating body; 3: a second rotating body;

4: a first drive line; 5: a second drive line; 6: a first wire slot;

7: a first connecting arm; 8: a second wire slot; 9: a second connecting arm;

10: a housing; 11: a first wire hole; 12: a second wire hole;

13: a third wire hole; 14: a first motor; 15: a first reel;

16: a first bevel gear; 17: a second bevel gear; 18: a second motor;

19: a second reel; 20: a third bevel gear; 21: a spur gear;

22: a fourth bevel gear; 23: a first guide wheel; 24: a second guide wheel;

25: a third guide wheel; 26: a fourth guide wheel; 27: a fifth guide wheel;

28: a first tensioning wheel; 29: a first bar-shaped hole; 30: a first nut;

31: a second tensioning wheel; 32: a second bar-shaped hole; 33: a second nut;

34: a linear track; 35: a slide plate; 36: a stepping motor;

37: a lead screw nut mechanism; 38: a delivery pump; 39: a delivery pipe;

40: printing a needle head; 41: a first channel; 42: a second channel;

43: a third channel.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. 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.

The two-degree-of-freedom rotation mechanism of the present invention will be described below with reference to fig. 1 to 10.

The invention provides a two-degree-of-freedom rotating mechanism which comprises a supporting body 1, a first rotating body 2, a second rotating body 3, a first wire driving device and a second wire driving device. Wherein, the first rotating body 2 is rotatably connected with the first end of the supporting body 1, the second rotating body 3 is rotatably connected with the first rotating body 2, and the rotating axes of the first rotating body 2 and the second rotating body 3 are vertical. The first thread drive is intended to drive the first rotation body 2 in rotation and the second thread drive is intended to drive the second rotation body 3 in rotation.

The supporting body 1 may be a cylinder structure, and two end faces are a first end and a second end respectively.

The first rotating body 2 may have a disc-shaped structure, and the end surface of the first rotating body 2 may be parallel to the first end of the supporting body 1, and the end surface of the first rotating body 2 is rotatably connected to the end surface of the first end of the supporting body 1 through a rotating shaft. The center lines of the support body 1, the rotation shaft, and the first rotating body 2 are located on the same line, and the rotation axis of the first rotating body 2 is collinear with the center line.

The end face of the trailing end of the second rotating body 3 may be rounded. In the initial position, the trailing end face of the second rotating body 3 is arranged parallel to the leading end face of the first rotating body 2. The second rotation body 3 is connected in rotation to the first rotation body 2 with its axis of rotation perpendicular to the axis of rotation of the first rotation body 2.

A first line drive means comprising a first winding assembly and a first drive line 4. The first driving wire 4 is arranged in a turning way, and two ends of the first driving wire 4 are fixedly connected with the first winding assembly. The first winding assembly is used for driving one end of the first driving wire 4 to retract and the other end to extend, and at the moment, the middle part of the first driving wire 4 moves in a single direction. The middle part of the first driving wire 4 is connected with the power input end of the first rotating body 2 in a surrounding way, and when the middle part of the first driving wire 4 moves in a single direction, the first rotating body 2 is driven to rotate.

And a second wire driving device including a second wire winding assembly and a second driving wire 5. The second driving wire 5 is arranged in a turning way, and two ends of the second driving wire 5 are fixedly connected with the second winding assembly. The second winding assembly is used for simultaneously driving one end of the second driving wire 5 to retract, and the other end of the second driving wire 5 to extend, and at the moment, the middle part of the second driving wire 5 moves in a single direction. The middle part of the second driving wire 5 is connected with the power input end of the second rotating body 3 in a surrounding way, and when the middle part of the second driving wire 5 moves in a single direction, the second rotating body 3 is driven to rotate.

In this way, the combination of the first rotating body 2 and the second rotating body 3 realizes a two-degree-of-freedom rotation. The first line driving device and the second line driving device are driven by lines, the transmission part is a driving line, the size is small, and compared with transmission parts such as gears, transmission shafts and transmission belts, the driving line serving as the transmission part can reduce the size of the double-degree-of-freedom rotating mechanism.

In one embodiment of the invention, a first wire groove 6 is provided at the power input end of the first rotation body 2, and the middle of the first drive wire 4 is wound around the outside of the first wire groove 6.

The center of the end face of the tail end of the first rotating body 2 is provided with a first disc, the axis of the first disc is superposed with the rotation axis of the first rotating body 2, the center of the first disc is provided with a through hole, and the rotation axis passes through the through hole and is in transmission connection with the first rotating body 2. The first thread groove 6 is provided along the circumferential surface of the first disk. The middle part of the first driving wire 4 surrounds the outside of the first wire groove 6, and the two do not slide relatively when contacting.

In one embodiment of the present invention, a first connecting arm 7 is disposed at an end of the second rotating body 3 close to the first rotating body 2, an end of the first connecting arm 7 far from the second rotating body 3 is rotatably connected to the first rotating body 2, the rotation axis is perpendicular to the rotation axis of the first rotating body 2, a second wire slot 8 is disposed on the first connecting arm 7, the axis of the second wire slot 8 is perpendicular to the axis of the first wire slot 6, and the second driving wire 5 is wound around the outside of the second wire slot 8.

The end face of the tail end of the second rotating body 3 is provided with a first connecting arm 7, and the first connecting arm 7 may be disposed at a position close to the center of the end face of the tail end of the second rotating body 3. A second connecting arm 9 is arranged at a position corresponding to the first connecting arm 7 on the end surface of the head end of the first rotating body 2, one side of the second connecting arm 9 close to the center of the first rotating body 2 is contacted with one side of the first connecting arm 7 far away from the center of the second rotating body 3, and the two are rotationally connected through a rotating shaft. A second disk is arranged on one side of the first connecting arm 7 close to the center of the second rotating body 3, the axis of the second disk is collinear with the axis of the rotating shaft, and the extension line of the central axis of the first rotating body 2 passes through the center of the second disk. A second thread groove 8 is provided on the outer circumferential surface of the second disc. The second driving wire 5 can pass through the center of the first rotating body 2 and can be directly sleeved outside the second wire groove 8 after passing through.

Alternatively, the first connecting arm 7 may be provided at an edge position of the trailing end surface of the second rotating body 3, and two first connecting arms 7 may be provided symmetrically along a certain diameter line of the trailing end surface of the second rotating body 3. Similarly, the second connecting arm 9 is disposed at the position corresponding to the first connecting arm 7 on the end surface of the head end of the first rotating body 2, the first connecting arm 7 is disposed at one side close to the center of the second rotating body 3, the second connecting arm 9 is disposed at one side far away from the center of the second rotating body 3, and the first connecting arm and the second connecting arm are connected through the rotating shaft. A second disk is provided on the side of the first link arm 7 near the center of the second rotating body 3, the axis of the second disk being collinear with the axis of the rotating shaft. A second thread groove 8 is provided on the outer circumferential surface of the second disc. The second driving wire 5 can pass through the edge of the first rotating body 2 and can be directly sleeved outside the second wire slot 8 after passing through.

In one embodiment of the invention, the device further comprises a housing 10, wherein the first wire driving device and the second wire driving device are both located in the housing 10, and the housing 10 is fixedly connected to a second end of the support body 1 opposite to the first end.

The housing 10 is used for enclosing the first and second line driving devices, and the first and second driving lines 4 and 5 connected with the first and second line driving devices can penetrate through one end of the housing 10. Thus, the housing 10 may be arranged on the support body 1 at a second end opposite to the first end.

When the first driving wire 4 and the second driving wire 5 penetrate the housing 10, they can directly penetrate the supporting body 1, penetrate the second end of the supporting body 1, and penetrate the first end of the supporting body 1 after passing through the supporting body 1. Therefore, in one embodiment of the present invention, the first and second string holes 11 and 12 penetrating the first and second ends of the support body 1 are provided in the support body 1, and in order to prevent the first and second driving wires 4 and 5 from interfering during movement, the first and second string holes 11 and 12 are disposed to be staggered. The first drive wire 4 extends from the second end of the support body 1 to the first end of the support body 1 through a first wire hole 11. The second drive wire 5 extends from the second end of the support body 1 to the first end of the support body 1 through a second wire hole 12. The first rotating body 2 is provided with third wire holes 13 penetrating through both end surfaces of the first rotating body 2, and the second driving wire 5 penetrates through the second wire holes 12, then penetrates through the first rotating body 2 through the third wire holes 13, and is connected with the second wire groove 8 on the second rotating body 3.

In an embodiment of the present invention, the first winding assembly includes a first motor 14, a first gear set, and a first winding shaft 15, the first winding shaft 15 is in transmission connection with the first motor 14 through the first gear set, the first winding shaft 15 is used for being in winding connection with two ends of the first driving wire 4, and the first winding shaft 15 is used for simultaneously driving one end of the first driving wire 4 to retract and the other end to extend.

Wherein, the first motor 14 is located at the tail end of the housing 10, and the driving shaft of the first motor 14 faces to one end of the housing 10 close to the supporting body 1. The first set of gears comprises a first bevel gear 16 and two second bevel gears 17. The first reels 15 are provided in two, and the two first reels 15 are coaxially connected and are rotatable relative to each other.

When the device is installed, the first bevel gear 16 is in transmission connection with the driving shaft of the first motor 14, and the two second bevel gears 17 are arranged coaxially up and down, one is rotatably connected with the top of the shell 10, and the other is rotatably connected with the bottom of the shell 10. The two second bevel gears 17 are in mesh transmission with the first bevel gear 16 above and below the first bevel gear 16, respectively, so that the two second bevel gears 17 rotate in opposite directions. The first spool 15 located above rotates in synchronism with the second bevel gear 17 located above, and the first spool 15 located below rotates in synchronism with the second bevel gear 17 located below. Two ends of the first driving wire 4 are fixedly connected with two first reels 15 respectively.

During the use, first motor 14 forward rotation drives first bevel gear 16 rotatory, and two second bevel gears 17 rotation and the opposite direction of rotation that mesh with first bevel gear 16 drive two first spools 15 rotatory and the opposite direction of rotation, make the both ends of the first drive wire 4 of being connected with first spool 15 realize that one end is to the winding on the first spool 15 of place and is withdrawed, the effect that one end breaks away from the first spool 15 of place and stretches out. And the portion connected to the first wire groove 6 achieves the effect of moving one side down and one side up. Under the action of the couple of force, the first driving wire 4 drives the first rotating body 2 to rotate, and further drives the second rotating body 3 to rotate around the shaft. When the first motor 14 rotates in the reverse direction, the first rotating body 2 rotates in the reverse direction.

In an embodiment of the present invention, the second winding assembly includes a second motor 18, a second gear set and a second winding shaft 19, the second winding shaft 19 is in transmission connection with the second motor 18 through the second gear set, the second winding shaft 19 is used for being in winding connection with two ends of the second driving wire 5, the second winding shaft 19 is used for simultaneously driving one end of the second driving wire 5 to retract, and the other end of the second driving wire 5 to extend.

The second motor 18 may be located at the rear end of the housing 10 with the drive shaft of the second motor 18 towards the end of the housing 10 near the support body 1. The second gear set includes two combination gears and two third bevel gears 20, and the combination gears include a spur gear 21 and a fourth bevel gear 22 disposed in front of the spur gear 21.

When the motor is installed, one of the spur gears 21 is a driving gear, the other spur gear 21 is a driven gear, the driving gear is in transmission connection with a driving shaft of the second motor 18, the driven gear is located on one side of the driving gear in the radial direction and in meshing transmission with the driving gear, and the fourth bevel gears 22 on the two spur gears 21 are located on one sides of the spur gears 21 far away from the second motor 18. The two third bevel gears 20 are respectively connected with the bottom of the housing 10 in a rotating manner and are respectively in meshed transmission with the two fourth bevel gears 22, and the two third bevel gears 20 are both positioned below the fourth bevel gears 22. The two second winding shafts 19 are respectively correspondingly connected with the two third bevel gears 20, the bottom ends of the second winding shafts 19 are in rotation stopping connection with the centers of the third bevel gears 20, the top ends of the second winding shafts 19 are in rotation connection with the top end of the shell 10, and the two second winding shafts 19 rotate together with the third bevel gears 20. Two ends of the second driving line 5 are respectively fixedly connected with two second reels 19, and the middle part of the second driving line 5 is wound and connected with the second wire groove 8.

In use, the second motor 18 rotates in a forward direction to rotate the drive gear, and the drive gear rotates the driven gear in a direction opposite to the direction of rotation of the drive gear and the driven gear. The fourth bevel gears 22 provided on the driving gear and the driven gear rotate together, and the rotation directions of the two fourth bevel gears 22 are opposite. Furthermore, the fourth bevel gear 22 drives the third bevel gear 20 engaged therewith to rotate, and the two third bevel gears 20 drive the two second winding shafts 19 to rotate, and the rotation directions of the two second winding shafts 19 are opposite. The second drive line 5 that is connected with two second reels 19 realizes that one end is withdrawed to the surface winding of second reel 19, the effect that one end breaks away from the surface of second reel 19 and stretches out, and then in the position of the middle part of second drive line 5 and second wire casing 8 wire-wound, wherein one end receives forward force in the top and the bottom of second wire casing 8, and the other end receives backward force, and under the effect of couple, second wire casing 8 takes place rotatoryly to drive second rotator 3 and take place rotatoryly. Similarly, when the second motor 18 rotates in the reverse direction, the second rotating body 3 rotates in the reverse direction.

In one embodiment of the present invention, the first driving wire 4 extends along the length direction of the supporting body 1 and penetrates the first wire hole 11, and in order to wind the first driving wire 4 on the first wire groove 6 with the axis parallel to the length direction of the supporting body 1, a first guide wheel assembly may be provided at the tail end of the first rotating body 2 or the head end of the supporting body 1.

The first guide wheel assembly is provided at the head end of the support body 1. The first guide wheel assembly comprises two first guide wheels 23, the two first guide wheels 23 being respectively arranged above the first string holes 11 with their rotation axes perpendicular to the axis of the first string groove 6. After passing through the first wire hole 11, the first driving wire is wound forward and upward from the bottom of the first guide wheel 23 and finally wound on the first wire groove 6.

When the first connecting arm 7 is located at the edge position of the second rotating body 3, the second driving wire 5 needs to be extended to the edge position of the second rotating body 3 to be connected with the second wire slot 8. Therefore, the third wire hole 13 may be provided at the edge of the first rotating body 2, and the second driving wire 5 may be directly connected to the second wire groove 8 after passing through. However, the second rotating body 3 also needs to rotate along with the first rotating body 2 during the rotation process, and if the second driving wire 5 passes through the edge of the first rotating body 2, the second driving wire 5 is wound during the rotation process, which affects the movement of the second driving wire 5.

Therefore, in one embodiment of the present invention, in order to address the above situation, the third wire hole 13 may be disposed at the center of the first rotating body 2, and a second guiding wheel mechanism may be disposed on the head end surface of the first rotating body 2, and the second guiding wheel mechanism may be configured to guide the second driving wire 5 passing through the first rotating body 2 from the center of the first rotating body 2 to the edge of the first rotating body 2, so as to connect the second driving wire 5 with the second wire groove 8.

In this embodiment, the second guide wheel mechanism described above may include four second guide wheel assemblies. Each second guide wheel assembly comprises a second guide wheel 24, a third guide wheel 25, a fourth guide wheel 26 and a fifth guide wheel 27 for a total of four guide wheels, each guide wheel being provided with a third wire slot for receiving the second drive wire 5. The second driving wire 5 passes through the second wire hole 12 and the third wire hole 13 to reach the front side of the first rotating body 2, and is wound on the second wire groove 8 through the second guiding wheel mechanism.

The specific structure of the second guide wheel assembly will be described by taking as an example a set of second guide wheel assemblies positioned at the upper right of the first rotating body 2. The second guide wheel 24 may be located above and to the right of the third wire hole 13, and the axis of the second guide wheel 23 may be parallel to the front end surface of the first rotating body 2. The third guide wheel 25 is located above and to the right of the second guide wheel 24, and the rotation axis of the third guide wheel 25 is perpendicular to the front end surface of the first rotating body 2. The fourth guide wheel 26 is located above and to the right of the third guide wheel 25, and the rotation axis of the fourth guide wheel 26 is parallel to the axis of the third guide wheel 25. The fifth guide wheel 27 is located above and to the right of the fourth guide wheel 26, and the rotation axis of the fifth guide wheel 27 is parallel to the rotation axis of the second guide wheel 24.

When the middle portion of the second driving wire 5 passes through the third wire hole 13, a segment of the second driving wire 5 on the right side first passes forward and upward from the bottom of the second guide wheel 24, then passes upward from the left side of the third guide wheel 25, then passes rightward and upward from the bottom of the fourth guide wheel 26, then passes upward from the rear side of the fifth guide wheel 27, and finally is wound around the second wire groove 8. In this way, the second driving wire 5 can be guided from the center of the first rotating body 2 to the edge of the first rotating body 2 by the second guide wheel assembly, and knotting during rotation can be prevented.

The other three second guide wheel assemblies are respectively arranged at the upper left side, the lower right side and the lower left side of the first rotating body 2, the second guide wheel assembly positioned at the upper left side is obtained by the above second guide wheel assembly at the upper right side being symmetrical leftward, the two second guide wheel assemblies positioned at the lower right side and the lower left side are obtained by the second guide wheel assembly at the upper left side and the lower right side being symmetrical downward, the four second guide wheel assemblies have the same structure and are only different in position, and specific structures are not described again.

In one embodiment of the present invention, in order to ensure that the first driving wire 4 is always under tension, a first tension wheel 28 may be provided inside the housing 10, the first tension wheel 28 being located between the first reel 15 and the front end of the housing 10, the first driving wire 4 located between the first reel 15 and the first wire slot 6 being wound around the first tension wheel 28, the top and bottom of the first tension wheel 28 being slidably connected to the housing 10, and a first fastening member being provided between the housing 10 and the first tension wheel 28.

The first strip-shaped holes 29 extending in the left-right direction are formed in the positions, connected with the first tensioning wheels 28, of the top and the bottom of the shell 10, external threads are formed in the upper ends and the lower ends of the first tensioning wheels 28, the two ends of the first tensioning wheels 28 penetrate through the first strip-shaped holes 29 and then are fastened through first nuts 30, and the first nuts 30 are first fastening pieces.

In an embodiment of the present invention, in order to ensure that the second driving wire 5 is always under tension, two second tensioning wheels 31 may be disposed inside the housing 10, the two second tensioning wheels 31 are respectively located between the two second reels 19 and the front end of the housing 10, the second driving wire 5 located between the second reels 19 and the second wire slot 8 passes around the second tensioning wheels 31, the top and the bottom of the second tensioning wheels 31 are slidably connected to the housing 10, and a second fastening member is further disposed between the housing 10 and the second tensioning wheels 31.

Second strip-shaped holes 32 extending in the left-right direction are formed in positions where the top and the bottom of the housing 10 are connected to the second tensioning wheel 31, external threads are formed at the upper and lower ends of the second tensioning wheel 31, the two ends of the second tensioning wheel 31 are fastened by second nuts 33 after passing through the second strip-shaped holes 32, and the second nuts 33 are second fastening members.

The invention also provides an in-vivo in-situ biological printing device which comprises the two-degree-of-freedom rotating mechanism, the linear driving mechanism and the printing solution conveying device.

The linear driving mechanism is used for driving the two-degree-of-freedom rotating mechanism to move along a direction parallel to the rotation axis of the first rotating body 2, and may include a linear rail 34, a sliding plate 35, a stepping motor 36, and a screw nut mechanism 37, wherein the bottom of the sliding plate 35 is slidably connected to the linear rail 34, the screw nut mechanism 37 includes a screw rod extending parallel to the linear rail 34, one end of the screw rod is drivingly connected to the stepping motor 36, the other end of the screw rod is rotatably connected to the end of the linear rail 34, and the middle portion of the screw rod passes through the sliding plate 35 and is in threaded connection with the sliding plate 35. The stepping motor 36 rotates to drive the slide plate 35 to move linearly along the linear rail 34 through the lead screw.

The printing solution delivery means includes a delivery pump 38, a delivery tube 39 and a printing needle 40. The inside cavity and the head end of second rotator 3 are open, and printing syringe needle 40 is located second rotator 3 and the head end of printing syringe needle 40 passes through the head end of second rotator 3 and wears out. The support body 1 is internally provided with a first channel 41 which penetrates through the support body 1, the first rotating body 2 is provided with a second channel 42 which penetrates through the first rotating body 2, the second rotating body 3 is provided with a third channel 43 which is communicated with the inside of the second rotating body 3, one end of the conveying pipe 39 is connected with the conveying pump 38, and the other end of the conveying pipe is communicated with the tail end of the printing needle head 40 in the second rotating body 3 after penetrating through the first channel 41, the second channel 42 and the third channel 43.

The in-vivo in-situ biological printing device provided by the invention has the advantages that the two-degree-of-freedom rotating mechanism is arranged, so that the volume of the device is reduced, the device can extend into the body, and the effect of printing in a small space can be realized.

It should be noted that, when the two-degree-of-freedom rotating mechanism is applied to an in-vivo in-situ biological printing device, the support body 1 needs to drive the first rotating body 2 and the second rotating body 3 to extend into the body, so that the length is long, the length can be about 300mm, and the outer diameter is 8mm to 12 mm. In fig. 1, the support body 1 is shown in two stages for the sake of convenience of illustration and space saving.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.