阅读说明：本技术 一种并联机械臂3d打印软骨修复装置及方法 (Cartilage repair device and method adopting parallel mechanical arm 3D printing ) 是由 宋长辉 李意浓 刘子彬 余家阔 于 2020-12-18 设计创作，主要内容包括：本发明公开了一种并联机械臂3D打印软骨修复装置及方法,其特征在于,包括并联机械臂、聚焦镜、固化光源、一分三光纤接口、光纤、电机、玻璃容器以及固定架；所述一分三光纤接口将固化光源发出的光分成三组,固化光通过聚焦镜聚焦在玻璃容器的挤出口,并联机械臂控制挤出口位置,电机对推压端施加压力,挤出打印原材料,原材料在固化光的照射下凝固,实现3D打印软骨修复。本发明采用数字化精确控制并联机械臂进行3D打印的方式,可以直接在软骨损坏的原位置软骨修复,并在并联机械臂的精确控制下保证打印精度,达到了原位高精度修复组织的目的。(The invention discloses a parallel mechanical arm 3D printing cartilage repair device and a method, which are characterized by comprising parallel mechanical arms, a focusing mirror, a curing light source, a one-to-three optical fiber interface, optical fibers, a motor, a glass container and a fixing frame, wherein the optical fibers are arranged in parallel on the fixing frame; the one-to-three optical fiber interface divides light emitted by the curing light source into three groups, the curing light is focused on an extrusion port of the glass container through a focusing lens, the mechanical arm controls the position of the extrusion port, the motor applies pressure to the pushing end to extrude printing raw materials, and the raw materials are solidified under the irradiation of the curing light, so that the 3D printing cartilage repair is realized. The method adopts a mode of digitally and accurately controlling the parallel mechanical arms to carry out 3D printing, can directly repair the cartilage in situ with damaged cartilage, ensures the printing precision under the accurate control of the parallel mechanical arms, and achieves the purpose of repairing the tissue in situ with high precision.)

1. A cartilage repair device printed in a 3D mode through a parallel mechanical arm is characterized by comprising the parallel mechanical arm, a focusing mirror, a curing light source, a one-to-three optical fiber interface, optical fibers, a motor, a glass container and a fixing frame;

the focusing mirror is clamped inside the fixing clamp through the U-shaped clamping groove, the focusing mirror is in threaded connection with an optical fiber, the optical fiber is in threaded connection with a curing light source, the one-to-three optical fiber interface is in threaded connection with the optical fiber, the curing light source is connected with the top of the parallel mechanical arm through a bolt, the motor is connected with the fixing frame through a bolt, and the fixing frame is connected with the parallel mechanical arm through a bolt;

the glass container is used for storing printing raw materials, serves as a printing nozzle, is arranged in the fixing frame, and comprises a pushing end and an extrusion port, and the pushing end is connected with the motor;

the one-to-three optical fiber interface divides light emitted by the curing light source into three groups, the curing light is focused on an extrusion port of the glass container through a focusing lens, the position of the extrusion port is controlled by a mechanical arm, a motor applies pressure to a pushing end to extrude printing raw materials, and the raw materials are solidified under the irradiation of the curing light.

2. The parallel mechanical arm 3D printing cartilage repair device of claim 1, wherein the curing light source is a blue light source.

3. The 3D printing cartilage repair device provided with the parallel mechanical arm as claimed in claim 2, wherein the one-to-three optical fibers divide blue light into three groups evenly at intervals of 120 degrees, and the three groups of blue light are respectively transmitted to the focusing lens through the optical fibers, and the focusing lens focuses the blue light and emits the blue light from 3 directions at an angle of 120 degrees to irradiate the extrusion opening of the glass container.

4. The parallel mechanical arm 3D printing cartilage repair device according to claim 1, wherein the motor is a through motor.

5. The parallel mechanical arm 3D printing cartilage repair device of claim 4, wherein the glass container is a replaceable syringe, the syringe push rod is replaced by a through motor screw, and the pushing end of the syringe is directly connected with the through motor.

6. The 3D printing cartilage repair device provided with the parallel mechanical arms as claimed in claim 1, wherein the parallel mechanical arms transmit power by adopting stepping motors and synchronous belts, and the number of the stepping motors is 3.

7. The cartilage repair method based on the parallel mechanical arm 3D printing cartilage repair device of any one of claims 1-6, characterized by comprising the following steps:

scanning a damaged part of tissue by using medical imaging equipment to obtain CT/MRI scanning data, generating a physical three-dimensional model of the damaged part of the tissue by using medical three-dimensional model reconstruction software according to the obtained scanning data, establishing a part to be repaired model, and generating a corresponding printing program by slicing software according to different conditions;

the method comprises the following steps of (1) mounting an injector filled with a repairing raw material on a fixed frame through a U-shaped clamping groove, and controlling a through motor to rotate so that a screw of the through motor contacts a pushing end of the injector;

the parallel mechanical arm accurately makes corresponding actions under the control of a printing program, the injector is moved to the initial position of printing, and simultaneously blue light is focused on the top end of the injector from three different directions through the optical fiber and the focusing mirror;

the parallel mechanical arms and the through motor are matched with each other under the control of a printing program, the repairing raw materials are accurately sent to the cartilage damage position, and photopolymerization curing is completed under the irradiation of blue light, so that the cartilage damage is accurately repaired;

and after the repairing printing is finished, the through motor works in a reverse mode, so that the screw of the through motor reversely pulls the pushing end of the injector.

Technical Field

The invention belongs to the technical field of additive manufacturing, and particularly relates to a cartilage repair device and method through 3D printing of parallel mechanical arms.

Background

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

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

Disclosure of Invention

The invention mainly aims to overcome the defects in the prior art, and provides a cartilage repair device and method adopting parallel mechanical arms for 3D printing.

In order to achieve the purpose, the invention adopts the following technical scheme:

a cartilage repair device for 3D printing of a parallel mechanical arm comprises the parallel mechanical arm, a focusing mirror, a curing light source, a one-to-three optical fiber interface, optical fibers, a motor, a glass container and a fixing frame;

the focusing mirror is clamped inside the fixing clamp through the U-shaped clamping groove, the focusing mirror is in threaded connection with an optical fiber, the optical fiber is in threaded connection with a curing light source, the one-to-three optical fiber interface is in threaded connection with the optical fiber, the curing light source is connected with the top of the parallel mechanical arm through a bolt, the motor is connected with the fixing frame through a bolt, and the fixing frame is connected with the parallel mechanical arm through a bolt;

the glass container is used for storing printing raw materials, serves as a printing nozzle, is arranged in the fixing frame, and comprises a pushing end and an extrusion port, and the pushing end is connected with the motor;

the one-to-three optical fiber interface divides light emitted by the curing light source into three groups, the curing light is focused on an extrusion port of the glass container through a focusing lens, the position of the extrusion port is controlled by a mechanical arm, a motor applies pressure to a pushing end to extrude printing raw materials, and the raw materials are solidified under the irradiation of the curing light.

Further, the curing light source is specifically a blue light source.

Further, the one-to-three optical fibers divide blue light into three groups at 120 ° intervals, and the three groups are respectively transmitted to the focusing lens through the optical fibers, and the focusing lens focuses the blue light and emits the focused blue light from 3 directions at 120 ° to irradiate the extruding opening of the glass container.

Further, the motor is specifically a through motor.

Further, the glass container adopts a replaceable injector, the injector push rod is replaced by a through motor screw rod, and the pushing end of the injector is directly connected with a through motor.

Further, the parallel mechanical arm specifically adopts step motor and hold-in range transmission power, step motor quantity is 3.

The invention also comprises a cartilage repair method based on the provided parallel mechanical arm 3D printing cartilage repair device, which comprises the following steps:

scanning a damaged part of tissue by using medical imaging equipment to obtain CT/MRI scanning data, generating a physical three-dimensional model of the damaged part of the tissue by using medical three-dimensional model reconstruction software according to the obtained scanning data, establishing a part to be repaired model, and generating a corresponding printing program by slicing software according to different conditions;

the method comprises the following steps of (1) mounting an injector filled with a repairing raw material on a fixed frame through a U-shaped clamping groove, and controlling a through motor to rotate so that a screw of the through motor contacts a pushing end of the injector;

the parallel mechanical arm accurately makes corresponding actions under the control of a printing program, the injector is moved to the initial position of printing, and simultaneously blue light is focused on the top end of the injector from three different directions through the optical fiber and the focusing mirror;

the parallel mechanical arms and the through motor are matched with each other under the control of a printing program, the repairing raw materials are accurately sent to the cartilage damage position, and photopolymerization curing is completed under the irradiation of blue light, so that the cartilage damage is accurately repaired;

and after the repairing printing is finished, the through motor works in a reverse mode, so that the screw of the through motor reversely pulls the pushing end of the injector.

Compared with the prior art, the invention has the following advantages and beneficial effects:

1. the invention stores the raw materials by using the injector, has the advantages of convenient replacement, easy storage, controllable materials and the like, and only the injector needs to be directly replaced for printing different materials without replacing other mechanisms of the printer.

2. The feeding device extrudes materials through the through motor, so that raw materials are uniformly and orderly supplied, the feeding system is compact in structure, meanwhile, the parallel mechanical arms are used for driving the feeding device to replace a traditional 3-axis 3D printer, the printing precision is high, the printing speed is high, and the maintenance is convenient.

3. The invention adopts the one-to-three optical fiber interface to divide the blue light emitted by the blue light source into three strands, and the three strands of blue light are respectively transmitted into the focusing lens through the optical fibers to focus the blue light, and the printing materials are respectively irradiated at 120 degrees from 3 directions, so that the energy density is higher, and the solidification range is more accurate.

4. The parallel mechanical arm in-situ 3D printing technology controlled by a digital means can realize in-situ 3D printing accurate repair of various biological materials and various structures, and can test printing feasibility of materials through the parallel mechanical arms, so that the test cost is low, and the use is convenient and simple.

Drawings

FIG. 1 is an overall block diagram of the apparatus of the present invention;

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

FIG. 3 is a schematic view of the installation of the focusing lens of the present invention;

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

the reference numbers illustrate: 1-parallel mechanical arms; 2-a blue light source; 3-a fixing frame; 4-a three-in-one optical fiber interface; 5-an optical fiber; 6-a through motor; 7-a syringe; 8-focusing mirror.

Detailed Description

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

Examples

As shown in fig. 1, the present invention provides a cartilage repair device with parallel mechanical arm 3D printing, which comprises a parallel mechanical arm 1, a blue light source 2, a fixing frame 3, a one-to-three optical fiber interface 4, an optical fiber 5, a through motor 6, an injector 7 and a focusing mirror 8;

as shown in fig. 2 and 3, in this embodiment, the focusing mirror 8 is clamped inside the fixing frame 3 through a U-shaped clamping groove, the focusing mirror 8 is connected with the optical fiber 5 through a thread, the optical fiber 5 is connected with the blue light source 2 through a thread, the optical fiber 5 is connected with the one-to-three optical fiber interface 4 through a thread, the blue light source 2 is connected with the top of the parallel mechanical arm 1 through a bolt, the through motor 6 is connected with the fixing frame 3 through a bolt, the injector 7 is clamped inside the fixing frame 3, and the fixing frame 3 is connected with the parallel mechanical arm 1 through a bolt; the pushing end of the injector 7 is fixedly connected with a screw rod of the through motor 6;

as shown in fig. 3, the one-to-three optical fiber interface equally divides blue light emitted by the blue light source into three groups, the blue light in the three groups of optical fibers is focused by the focusing lens and respectively irradiated at 120 degrees from 3 directions to the top end of the syringe needle, and is matched with the printing position of the syringe needle, the screw rod of the through motor pushes the syringe to translate and push the pushing end, so that the syringe is pushed to extrude a repair material, the repair material is solidified under illumination, and 3D printing cartilage repair is realized. The parallel mechanical arm adopts a stepping motor and a synchronous belt to transmit power, and after receiving signals of the main control board, the printing position is ensured through close cooperation among the three stepping motors.

In this embodiment, the injector push rod is directly replaced by a through motor screw; the power transmission of the parallel mechanical arm adopts a stepping motor and a synchronous belt to transmit power, and the synchronous belt transmission has high precision, compact structure and strong environmental adaptability.

Based on the above embodiment, the present invention further provides a cartilage repair method by 3D printing on parallel mechanical arms, as shown in fig. 4, including the following steps:

s1, scanning the damaged part of tissue by using medical imaging equipment to obtain CT/MRI scanning data, generating a physical model of the damaged part of the tissue by using the obtained scanning data through medical three-dimensional model reconstruction software, building a part to be repaired model, and generating corresponding printing programs by slicing software according to different conditions;

s2, mounting the syringe filled with the repairing raw materials on a fixed frame through a U-shaped clamping groove, controlling the through motor to rotate at a specific angle, enabling the screw rod of the through motor to be tightly attached to the extrusion end of the syringe, and enabling the injection needle to flow out a small amount of repairing materials, so that no materials flow out after printing is started;

s3, the parallel mechanical arm accurately makes corresponding actions under the control of a printing program, the injection needle is moved to the initial position of printing, and simultaneously blue light is focused on the top end of the injection needle of the injector from three different directions through the optical fiber and the focusing mirror;

s4, the parallel mechanical arms and the through motor are precisely matched under the control of a printing program, the repairing raw materials are precisely sent to the cartilage damage position, photopolymerization curing is completed under the irradiation of blue light, and the precise repair of cartilage damage is realized;

s5, after the repair printing is finished, the injector leaves the printing position, the through motor works reversely, and the screw rod of the through motor pulls the pushing end of the injector reversely, so that the aim of immediately stopping supplying the printing finished material is fulfilled.

In order to better show the technical scheme of the invention, the repair of cartilage tissue of knee bones of New Zealand white rabbits is taken as an example for further explanation:

before the operation, CT images are adopted to show the condition of rabbit bone tissues, and MRI images are adopted to show the condition of soft tissues such as rabbit ligaments and muscles. Establishing a precise three-dimensional model of the knee cartilage tissue of the white rabbit, wherein the bone tissue and the soft tissue of the white rabbit need to be displayed at the same time, and the CT/MRI images of the white rabbit are fused to realize the correlation between a CT image coordinate system and an MRI image coordinate system; finally, the bone tissue and the soft tissue structure of the white rabbit are displayed in the fused image sequence at the same time. According to the factors of the supply rate, the intensity of blue light during printing, the curing rate and the like, the formula of the cartilage hydrogel is adjusted, so that the cartilage effect is optimal. The method develops suitable technological parameter research based on a personalized three-dimensional model fused with white rabbit CT/MRI image data at different feed rates, blue light intensity and hydrogel photoinitiator components, and achieves the purpose of in-situ repair of large-area cartilage defects and subchondral bone defects. The 3D printing and repairing process can adopt two modes of polishing while curing or first polishing and then curing. Printing and curing at the same time, namely, inserting optical fibers for curing and molding while injecting the biological hydrogel material into a body, and the optical fibers are mostly used for directly repairing wound surfaces; at the moment, the tail end of the optical fiber is modified in a conical, spherical, hemispherical, spherical, polyhedral and other modes. Firstly printing and then curing, namely firstly injecting a biological hydrogel material into a body, and then inserting an optical fiber for curing and molding; the fiber end is modified by means of a disperser.

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

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