Skin in situ printing device

Abstract

The present invention provides a skin in-situ printing device, which is used for applying biological glue for forming artificial skin by printing on a predetermined part of a human body, and comprises: a carrying device; a plurality of print head devices; a coating power device; a print head moving device; and a control device, wherein the print head device comprises: a printing unit, which is used for accommodating and applying different biological glues or biological glue components, and has a cylinder for accommodating the biological glue and a needle for applying the biological glue arranged at the bottom of the cylinder; a printing lifting component, which is used for lifting the printing unit, and has a lifting groove, a lifting screw arranged in the lifting groove, a lifting ball bearing which is sleeved on the lifting screw through a threaded combination to form a ball screw pair with the lifting screw, and a lifting drive motor; a printing moving component, which is used for horizontally moving the printing lifting unit, so that the printing unit moves horizontally; and a printing bracket, which has a mounting portion, a connecting portion and a accommodating portion.

Description

Technical Field

[0001] The invention belongs to the field of medical equipment and relates to a skin in-situ printing device. Background Art

[0002] Skin defect refers to the loss of skin caused by burns, scalds, mechanical damage, etc. If the depth of damage to the skin defect reaches the dermis or below, the human body cannot completely regenerate, but heals through the growth of fibroblasts, and scar tissue is formed at the defect after healing. Scar tissue is very different from normal skin in color and shape, which is extremely unsightly and can easily bring psychological burden to patients. Not only that, scar tissue has poor elasticity, lacks pores, and has poor air permeability, which can easily cause discomfort to patients. Therefore, when treating skin defects, the skin should be allowed to heal normally as much as possible to avoid the formation of scar tissue.

[0003] In clinical practice, stretching the skin around the damaged part or transplanting skin from other parts is often used to repair the damaged part. However, when the area of ​​the deep defect is very large (such as severe burns, etc.), since there are not many uninjured parts of the patient, the normal skin that can be obtained cannot meet the demand for covering the defect, so these methods cannot be applied. In the prior art, artificial skin therapy has emerged for such large-area skin defects, that is, artificial skin with pores is prepared in advance with biopolymer materials, and such artificial skin is trimmed into the shape of the damaged part and covered on the defect, so as to protect the subcutaneous tissue and accelerate healing. However, since the defect part is usually of different depths and irregular shapes, it is usually difficult for artificial skin to achieve an ideal fit, making the treatment effect less than ideal.

[0004] In order to overcome the above-mentioned defects of artificial skin, the concept of printed skin has emerged in the prior art. That is, a method similar to 3D printing is used to form an artificial skin layer of a specific shape and thickness using a bio-glue solution (i.e., a biocompatible polymer material solution with self-solidification properties) and apply it during treatment. However, such artificial skin requires precise operation to complete the suture and achieve an ideal fit, so its application is also limited. Summary of the invention

[0005] In order to solve the above problems, the inventor of the present invention proposed a method for in-situ 3D printing of skin, that is, using a specific 3D printing device to directly apply a polymer material (i.e., a biological glue and a corresponding cross-linking agent used to form a skin layer) to the defective part of the human body to form an artificial skin that is adaptable in shape and fits better, and this method does not require suturing operations. At the same time, in order to overcome the disadvantage that the conventional 3D printing device is not suitable for the defective part of the human body because it only has a moving mechanism that moves up, down, left, and right, the inventor proposed a skin in-situ printing device for in-situ printing of skin, and specifically adopted the following technical solutions:

[0006] The present invention provides a skin in-situ printing device, which is used to apply biological glue for forming artificial skin by printing on a predetermined part of the human body, and is characterized in that it includes: a bearing device, which is used to bear and rotate the patient; a plurality of print head devices, which are used to apply the biological glue on the predetermined part; a coating power device, which is used to provide the print head device with power to allow the biological glue and the cross-linking agent to be squeezed out of the nozzle unit when coating the biological glue and the cross-linking agent; a print head moving device, which is used to move the print head device to the predetermined part; and a control device, which is used to control the bearing device, the print head device, the coating power device and the print head moving device, so that the rotation action of the bearing device, the coating action of the print head device, the power supply action of the coating power device and the movement action of the print head moving device cooperate with each other to apply the biological glue and the cross-linking agent. The method is applied to a predetermined part of a patient, wherein the print head device comprises: a printing unit for containing and applying different bio-glue or bio-glue components, comprising a cylinder for containing the bio-glue and a needle for applying the bio-glue arranged at the bottom of the cylinder; a printing lifting assembly for lifting the printing unit, comprising a lifting slot, a lifting screw arranged in the lifting slot, a lifting ball bearing which is threadedly sleeved on the lifting screw to form a ball screw pair with the lifting screw, and a lifting drive motor; a printing moving assembly for horizontally moving the printing lifting unit so that the printing unit moves horizontally; and a printing bracket, comprising a mounting portion mounted on the lifting ball bearing, a connecting portion arranged on a side surface of the mounting portion, and a accommodating portion arranged on an end of the connecting portion away from the mounting portion for accommodating the cylinder.

[0007] The skin in-situ printing device provided by the present invention may also have such a technical feature, wherein the printing movement component includes a printing movement ball bearing fixed on the lifting groove and a printing movement driving motor installed on the printing movement ball bearing.

[0008] The skin in-situ printing device provided by the present invention may also have such a technical feature, wherein a vertically extending accommodating hole portion is provided in the accommodating portion, and the outer diameter of the cylinder is adapted to the inner diameter of the accommodating hole portion.

[0009] The skin in-situ printing device provided by the present invention may also have such a technical feature, wherein the accommodating portion has two clamping portions that are hinged to each other and are used to clamp the cylinder, and a plurality of rubber gaskets are provided on the inner side surfaces of the clamping portions.

[0010] The skin in-situ printing device provided by the present invention may also have such a technical feature, wherein the printing bracket also has a rotating drive motor arranged in the mounting part, one end of the connecting part extends into the mounting part and is fixedly connected to the output end of the rotating drive motor, so that it can rotate relative to the mounting part under the drive of the rotating drive motor.

[0011] The skin in situ printing device provided by the present invention may also have such technical features, wherein, the print head moving device has a supporting component and a first moving component and a second moving component arranged on the supporting component, the first moving component includes a first groove and a first screw extending along a first horizontal direction, a first ball bearing installed on the first screw by a threaded combination, and a first slide rod arranged parallel to the first screw; the second moving component includes a second fixed portion sleeved on the first slide rod, a second groove extending along a second horizontal direction, and a second screw arranged in the second groove and extending along the second horizontal direction, one end of the second groove is fixed on the second fixed portion, and the other end is fixed on the first ball bearing, the print head device also has a printing moving component, which includes a printing moving ball bearing and a printing moving driving motor, the printing moving ball bearing is sleeved on the second screw by a threaded combination to form a ball screw sub-structure together with the second screw, the lifting groove is fixed on the printing moving ball bearing, the printing moving driving motor is arranged on the printing moving ball bearing, and is used to drive the printing moving ball bearing to move along the second direction, thereby making the lifting groove as a whole move along the second direction.

[0012] The skin in situ printing device provided by the present invention may also have such technical features, wherein the support assembly includes a first support platform and a second support platform in the shape of a rectangular parallelepiped, the first groove is arranged on the first support platform, the first slide bar is fixed on the second support platform, and the bearing device is located between the first support platform and the second support platform.

[0013] The skin in-situ printing device provided by the present invention may also have such a technical feature, wherein two first slide rails extending along the first horizontal direction are further arranged in the first groove, and the first ball bearing is provided with two first embedding grooves respectively embedded in the first slide rails.

[0014] The skin in situ printing device provided by the present invention may also have such technical features, wherein the coating power device is a pressure providing device, which is used to provide compressed air to the cylinder so as to squeeze the biological glue in the cylinder out of the needle, and the printing unit also includes a cylinder cover for sealing the cylinder, and the cylinder cover is also provided with an air inlet for communicating with the pressure providing device.

[0015] The skin in situ printing device provided by the present invention may also have such technical features, wherein the supporting device includes: a base, including a horizontal portion, two vertical portions respectively arranged at both ends of the horizontal portion, and a mounting groove formed by the two vertical portions and the horizontal portion, and mounting holes are arranged on the inner surfaces of the upper ends of the two vertical portions; a supporting platform installed in the mounting groove, used to support the patient, having a bottom plate and two side plates respectively fixed at both ends of the bottom plate, and fixed shafts for fixing in the mounting holes are arranged on the outer surfaces of the two side plates; and a driving mechanism, used to drive the supporting platform to swing around the axis formed by the two fixed shafts in the mounting groove, so that the movement of the predetermined part of the patient on the supporting platform can cooperate with the printing action of the print head device.

[0016] Function and Effect of the Invention

[0017] According to the skin in-situ printing device provided by the present invention, since it has multiple print head devices, it is possible to apply and print different bio-glue components respectively, thereby completing the skin in-situ printing work. Since the print head device has a printing lifting unit and a printing moving assembly, wherein the printing lifting unit can lift the printing support and the printing unit as a whole, when multiple print head devices are simultaneously installed on a skin in-situ printing device, the printing unit that is not needed can be raised to the top of the printing position to avoid interference; the printing moving assembly can move the printing lifting unit, the printing support and the printing unit as a whole horizontally, so that the multiple print head devices can move independently in the horizontal direction, that is, their movement direction and movement speed can be set differently according to the actual coating needs, thereby making the coating of different bio-glue solutions by multiple printing units more accurate and orderly. At the same time, the control device can control the bearing device, multiple print head devices, the coating power device and the print head moving device respectively, so that the actions of these devices can be coordinated, so that complex printing actions can be completed, so that the skin layers containing different properties and different microstructures can be printed and formed at one time. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic structural diagram of a skin in-situ printing device according to an embodiment of the present invention;

[0019] Figure 2 is a schematic structural diagram of a print head device and a print head moving device according to an embodiment of the present invention;

[0020] Figure 3 is a schematic structural diagram of a print head device according to an embodiment of the present invention;

[0021] Figure 4 is a schematic structural diagram of a printing unit according to an embodiment of the present invention;

[0022] Figure 5Schematic diagram of the structure of the carrying device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0023] <Example>

[0024] Figure 1 Schematic diagram of the structure of the skin in-situ printing device according to an embodiment of the present invention.

[0025] like Figure 1 As shown, the skin in-situ printing device 100 includes a print head moving device 10, a print head device 20, a carrying device 30, a coating power device and a control device (the coating power device and the control device are not shown in the figure).

[0026] Figure 2 It is a schematic diagram of the structure of a print head device and a print head moving device according to an embodiment of the present invention.

[0027] like Figure 1 and Figure 2 As shown, the print head device 20 is used to apply the bio-glue to a predetermined part, and the print head moving device 10 is used to drive the print head device 20 so that the print head device 20 moves to the predetermined part where skin printing is required. In this embodiment, there are two print head devices 20.

[0028] The print head moving device 10 includes a first moving component 11, a second moving component 12 and a supporting component.

[0029] The support assembly includes a first support platform 13 and a second support platform 14 in the shape of a rectangular parallelepiped, the bottoms of the first support platform 13 and the second support platform 14 are fixed on the ground, and the two are at the same height, so the tops of the first support platform 13 and the second support platform 14 are located on the same horizontal plane. In addition, the length direction (i.e., the length direction in the horizontal direction) of the first support platform 13 and the second support platform 14 are the same, in this embodiment, the length direction is the first horizontal direction, and the horizontal direction perpendicular to the first horizontal direction is the second horizontal direction.

[0030] The first moving assembly 11 includes a first slot 111 , a first lead screw 112 , a first ball bearing 113 , a first sliding rod 114 and a first driving motor.

[0031] The first groove 111 is disposed at the top of the first support platform 13 , and its length direction is also the first horizontal direction. In addition, two first slide rails 111A extending along the first horizontal direction are disposed in the first groove 111 .

[0032] The first lead screw 112 extends along the first horizontal direction, and two ends thereof are respectively fixed at two ends of the first slot 111 .

[0033] The first ball bearing 113 is sleeved on the first lead screw 112, and the inner housing of the first ball bearing 113 is mounted on the first lead screw 112 by threaded connection, so that the first ball bearing 113 and the first lead screw 112 form a ball screw pair structure. The outer housing of the first ball bearing 113 is provided with two first embedding grooves 113A respectively embedded in the first slide rail 111A, so that the first ball bearing 113 can slide along the first slide rail 111A.

[0034] The length direction of the first sliding rod 114 is the first horizontal direction. The first sliding rod 114 is fixedly mounted on the top of the second support platform 14 , so the first sliding rod 114 can neither rotate nor move.

[0035] The first drive motor is located at one end of the first slot 111, and one end of the first lead screw 112 is fixedly connected to the output end of the first drive motor. When the first drive motor outputs a driving force, the first lead screw 112 rotates under the drive of the first drive motor, thereby driving the first ball bearing 113 to slide along the first slide rail 111A.

[0036] The second moving assembly 12 includes a second slot 121 , a second lead screw 122 and a second fixing portion 123 .

[0037] The second fixing portion 123 is provided with a hole whose inner diameter matches that of the first sliding rod 114 . The first sliding rod 114 passes through the hole so that the second fixing portion 123 is sleeved on the first sliding rod 114 .

[0038] The second groove 121 extends in the second horizontal direction, one end of the second groove 121 is fixed on the second fixing portion 123 , and the other end of the second groove 121 is fixed on the outer shell of the first ball bearing 113 .

[0039] When the first drive motor drives the first lead screw 112 to rotate, the first lead screw 112 drives the first ball bearing 113 to move along the first direction; because the second fixing portion 123 is sleeved on the first slide bar 114, the freedom of movement of the second slot 121 is limited by the first slide bar 114, so that the second slot 121 can move as a whole along the first horizontal direction under the driving action of the ball screw pair formed by the first lead screw 112 and the first ball bearing 113. In addition, the first drive motor is a servo motor, which can rotate forward or reverse under the drive of different electrical signals, so that the second slot 121 can move back and forth along the first horizontal direction accordingly.

[0040] The second lead screw 122 is disposed in the second slot 121, and its length direction is the second horizontal direction. Both ends of the second lead screw 122 are respectively fixed to both ends of the second slot 121, so that it cannot rotate or move.

[0041] Figure 3Schematic diagram of the structure of a print head device according to an embodiment of the present invention.

[0042] like Figure 1 , Figure 2 and Figure 3 As shown, the print head device 20 includes a print moving component, a print lifting unit 22 , a print support 23 and a print unit 24 .

[0043] The printing movement assembly includes a printing movement ball bearing 21 and a printing movement driving motor.

[0044] The structure of the printing moving ball bearing 21 is similar to that of the first ball bearing 113, and it also has an inner shell and an outer shell that can rotate relative to each other. The inner shell is sleeved on the second lead screw 122 through a threaded connection, and together with the second lead screw 122, forms a structure of a ball screw pair; the outer shell has a protrusion that fits into the second groove 121, so its moving direction is limited by the second groove 121 and the second lead screw 122.

[0045] The printing movement driving motor is arranged on the printing movement ball bearing 21, and is used to drive the inner housing of the corresponding printing movement ball bearing 21 to rotate, so that the printing movement ball bearing 21 can move along the length direction (i.e., the second horizontal direction) of the second lead screw 122. In addition, similar to the first driving motor, the printing movement driving motor of this embodiment is a servo motor, which can rotate forward or reverse under the drive of different electrical signals, so that the printing movement ball bearing 21 can move back and forth along the second horizontal direction accordingly.

[0046] In this embodiment, since the number of print head devices 20 is two, that is, the number of print moving drive motors and the number of print moving ball bearings 21 are both two, these two print moving drive motors can respectively drive the corresponding print moving ball bearings 21 to move along the length direction of the second lead screw 122 (that is, the second horizontal direction), so that the movements of the two print moving ball bearings 21 along the second horizontal direction can be independent of each other.

[0047] The printing lifting unit 22 includes a lifting slot 221 , a lifting lead screw 222 , a lifting ball bearing 223 and a lifting drive motor.

[0048] The lifting slot 221 is fixed on the outer shell of the movable ball bearing 211, and the length direction of the lifting slot 221 is the vertical direction. Two lifting rails 224 are also arranged in the lifting slot 221, and the length direction of the two lifting rails 224 is the vertical direction, and both ends are fixed on the two ends of the lifting slot 221 respectively.

[0049] The lifting drive motor is installed at the top position of the lifting slot 221, and the length direction of the lifting screw 222 is also in the vertical direction. Its top end is fixedly connected to the output end of the lifting drive motor, and the bottom end is installed on the bottom end of the lifting slot 221 through a bearing, so it can rotate under the drive of the lifting drive motor.

[0050] The structure of the lifting ball bearing 223 is similar to that of the first ball bearing 113 and the movable ball bearing 211, and has an inner shell and an outer shell that can rotate relative to each other. The inner shell is sleeved on the lifting screw 222 through a threaded connection, thereby forming a ball screw substructure together with the lifting screw 222, and the outer shell has two recessed parts respectively embedded in the lifting slide bar 224, so that the freedom of movement of the lifting ball bearing 223 is limited by the lifting slide bar 224. When the lifting drive motor drives the lifting screw 222 to rotate, the lifting ball bearing 223 moves correspondingly in the vertical direction under the drive of the lifting screw 222.

[0051] The printing support 23 includes a mounting portion 231 , a connecting portion 232 , a receiving portion 233 and a rotation driving motor.

[0052] The mounting portion 231 is in a rectangular parallelepiped shape and is fixed on the outer shell of the lifting ball bearing 223 ; meanwhile, the rotation driving motor is arranged in the mounting portion 231 .

[0053] The connecting portion 232 is arranged on a side of the mounting portion 231 away from the lifting ball bearing 223. One end of the connecting portion 232 extends into the mounting portion 231 and is fixedly connected to the output end of the rotating drive motor, so that it can rotate relative to the mounting portion 231 under the drive of the rotating drive motor.

[0054] The accommodating portion 233 is in a rectangular parallelepiped shape, and a side surface of the accommodating portion 233 is fixed to an end of the connecting portion 232 away from the mounting portion 231 . An accommodating hole extending along the length direction is disposed in the accommodating portion 233 .

[0055] Figure 4 Schematic diagram of the structure of a printing unit according to an embodiment of the present invention.

[0056] like Figure 3 and Figure 4 As shown, the printing unit 24 includes a cylinder 241 , a needle 242 installed at the lower end of the cylinder 241 , and a cylinder cover 243 detachably installed at the upper end of the cylinder 241 .

[0057] The barrel 241 is a hollow cylinder, and its outer diameter is adapted to the inner diameter of the receiving hole, so it can be received in the receiving hole. In addition, the length of the barrel 241 is greater than the length of the receiving hole, and the diameter of the barrel cover 243 is greater than the diameter of the receiving hole, so the lower part of the barrel 241 and the needle 242 are exposed from the lower part of the receiving hole. In this embodiment, a plurality of rubber gaskets are also provided on the inner surface of the receiving hole, so that the barrel 241 is not easy to slip off.

[0058] The cylinder cover 243 is provided with an air inlet 244, and a sealing ring (not shown) is also provided on the inner side of the cylinder cover 243 in contact with the cylinder body 241. In this embodiment, the air inlet 244 is a hole shape, and in other embodiments, the air inlet 244 can also be set to a tube shape in order to better connect with the air duct.

[0059] The needle 242 is connected to the interior of the barrel 241, so the bio-glue or bio-glue components contained in the barrel 241 can be squeezed out through the needle 242, thereby completing the coating process.

[0060] In this embodiment, the pressure providing device includes a gas storage device, a pressure regulator and an air filter (all not shown in the figure).

[0061] The gas storage device is used to store pressurized air, and the gas storage device may be a compressed air tank or an air pump, or other forms of pressurized air providing components; the pressure regulator is an electromagnetic regulating valve arranged on the pressurized air outlet of the gas storage device, and is used to adjust the flow rate of the pressurized air provided by the gas storage device, thereby adjusting the gas pressure provided by the gas storage device; the air filter is connected to the pressure regulator and the air inlet 244 through a hose, and is used to filter the pressurized air after the pressure is adjusted and to deliver the filtered pressurized air to the cylinder 241 through the air inlet 244. In addition, since the number of the printing units 24 in this embodiment is two, the clean air outlet of the air filter is also connected to the air inlets 244 of the two printing units 24 through two hoses. In addition, each hose is provided with a closing clip, which is used to close the air inlet 244 when the corresponding printing unit 24 does not need pressurized air.

[0062] Figure 5 Schematic diagram of the structure of the carrying device according to an embodiment of the present invention.

[0063] like Figure 1 and Figure 5 As shown, the carrying device 30 is located between the first support platform 13 and the second support platform 14 , and the carrying device 30 includes a base 31 , a carrying platform 32 , a driving mechanism 33 , four clamping seats 34 , a fixing assembly 35 , six adjustment grooves 36 and two baffles 37 .

[0064] The base 31 includes a horizontal portion 311 and two vertical portions 312 , wherein the bottom of the horizontal portion 311 is fixed on the ground.

[0065] The two vertical portions 312 are respectively arranged at both ends of the horizontal portion 311 along a line perpendicular to the horizontal portion 311. The vertical portions 312 have the same height, which is higher than the height of the horizontal portion 311, so that a mounting groove is formed between the two vertical portions 312 and the horizontal portion 311.

[0066] Mounting holes are provided on the inner surfaces of the tops of the two vertical portions 312 that are higher than the upper ends of the horizontal portions 311 , and a protrusion is provided on each of the two sides below the mounting holes as a stopper (not shown in the figure).

[0067] The support platform 32 is installed in the installation groove and is used to support the patient. The support platform 32 includes a bottom plate 321, two side plates 322 and an air cushion buffer layer.

[0068] The upper surface of the bottom plate 321 is an arc-shaped surface with the top protruding downward, which is used for the patient to lie down. The length of the bottom plate 321 is 1.7m to 2.0m, and the horizontal width of the two sides is 40cm to 70cm. In this embodiment, the length of the bottom plate 321 is 1.9m, and the horizontal width of the two sides is 36cm.

[0069] The two side panels 322 are fan-shaped and are respectively arranged at two ends of the bottom panel 321 in a direction perpendicular to the bottom panel 321 . Meanwhile, the bottom edges of the two side panels 322 are respectively fixedly combined with the arc-shaped side edges of the bottom panel 321 .

[0070] The outer surfaces of the two side plates 322 are provided with fixed shafts 323 at positions corresponding to the mounting holes of the vertical portion 312. By fixing the fixed shafts 323 in the mounting holes, the bearing platform 32 can be installed in the mounting groove.

[0071] In this embodiment, a block protruding outward and having a circumferential position corresponding to the limit member is also provided on the side plate 323 directly below the fixed shaft 323, that is, each side plate 323 has a block, and with the fixed shaft 323 and the mounting hole as the center of the circle, the block and the limit member are on the same circumference, so when the support platform 32 rotates with the fixed shaft 323 as the center of the circle, the limit member and the block can contact each other.

[0072] The air cushion buffer layer is laid on the bottom plate 321 to buffer the pressure between the patient and the bottom plate 321 when the patient lies on the bottom plate 321 .

[0073] The driving mechanism 33 is used to drive the support platform 32 to swing around the axis formed by the two fixed shafts 323 in the installation groove, so that the movement of the wound skin of the patient lying on the base plate can cooperate with the printing action of the print head device 20. The driving mechanism 33 is a driving motor, which is arranged in the vertical part 312 and is used to drive the fixed shaft 323 of the support platform 32 to rotate in the installation hole, thereby driving the base plate 321 to rotate.

[0074] During the rotation process, the block moves with the rotation of the side plate 322, and the limit members on both sides of the mounting hole limit the movement path of the block, so that the swing amplitude when it swings to the left or to the right does not exceed the two limit members, thereby making the left swing angle or the right swing angle of the support platform 32 not exceed 50°.

[0075] There are four card holders 34, two of which are symmetrically arranged on one side of the bottom plate 321, and the other two are symmetrically arranged on the other side of the bottom plate 321. That is, in this embodiment, the four card holders 34 are symmetrically arranged at the head and tail ends of the bottom plate 321, and are all located on the side of the bottom plate 321.

[0076] The fixing assembly 35 includes a fixing belt 351 , a buckle 352 and an adjusting buckle 353 .

[0077] Buckles 352 are provided at both ends of the fixing belt 351, and are used in conjunction with the holder 34. Buckles 352 are fixed in the holder under the engagement of the engaging member, so that the patient is fixed on the bottom plate 321. When the fixing belt 351 is unfastened, the engaging member is pressed by the elastic pressing member in the holder 34, so that the buckles 352 can be disengaged from the engaging member, and then the fixing belt 351 is unfastened to allow the patient to leave.

[0078] The adjustment buckle 353 is disposed at the middle position of the fixing belt 351 and is used to adjust the length of the fixing belt 351 to accommodate patients of different body shapes.

[0079] Six adjustment grooves 36 are symmetrically arranged on the bottom plate 321. That is, three adjustment grooves 36 are arranged in the middle of one side of the bottom plate 321 along the length direction of the bottom plate, and the other three adjustment grooves 36 are symmetrically arranged in the middle of the other side of the bottom plate 321. In this embodiment, the interval between two adjacent adjustment grooves 36 on the same side is 5 cm. In addition, the adjustment grooves 36 are all non-through grooves, and at both ends of each adjustment groove 36, a positioning hole is arranged that penetrates the bottom plate 321.

[0080] The lengths of the two baffles 37 are the same as the length of the adjustment groove 36, and the two ends of the lower end of the baffle 37 are each provided with a positioning pin 371 that matches the positioning hole 321. By inserting the two positioning pins 371 into the positioning holes at both ends of the adjustment groove 36, the two baffles 37 can be respectively fixed on both sides of the bottom plate 321 to limit the usable width of the bottom plate 321. When encountering patients of different body shapes, the baffles 37 can be removed and placed on the adjustment grooves 36 at different positions according to the body shapes of the patients.

[0081] The skin in-situ printing device of the present embodiment also has a control device, which includes a computer equipped with a predetermined control program and a plurality of drive signal generators. The drive signal generator is connected to the control device in communication, and is electrically connected to each drive motor (including the first drive motor, the print movement drive motor, the lifting drive motor, the rotation drive motor and the drive motor of the drive mechanism 33) respectively, and each drive signal generator can generate a corresponding electric signal for driving each drive motor under the control of the control device. In addition, the control device is also connected to the pressure regulator, so that it can control the pressure regulator to control the gas pressure in the cylinder 241 (that is, control the opening degree of the electromagnetic regulating valve, so that the amount of air entering the cylinder 241 increases or decreases, thereby realizing the control of the gas pressure).

[0082] The working principles of the print head device and the skin in-situ printing mechanism of this embodiment are described below with reference to the accompanying drawings.

[0083] Before skin printing, medical personnel can place the bio-glue solution into the cylinder 241 under a sterile environment, then cover the cylinder cover 243, connect the air filter and adjust the pressure regulator to close, so that the pressurized air cannot enter the cylinder 241. Then, let the patient lie on the carrier 32, adjust the baffle 37 and fix the patient with the fixing assembly 35. By sending different control signals to each driving motor in the print head moving device 10 through the control device, the patient's body can be rotated to a suitable angle, and the print head moving device 10 can drive the print head device 20 to the predetermined defective part where skin printing is required.

[0084] After reaching the predetermined position, the lifting drive motor and the rotating drive motor can be controlled to allow the needle 242 of the printing unit 24 filled with a predetermined biological glue solution to approach the defective position. At the same time, the pressure regulator is opened and adjusted to allow pressurized air to enter the cylinder 241 at a predetermined pressure, so that the biological glue solution in the cylinder 241 is squeezed out due to pressure and applied to the predetermined position through the needle 242.

[0085] In the above process, the control device controls the print head moving device 10, the driving component, the rotating component and the pressure regulator, so that a single printing unit 24 can extrude and apply the bio-glue solution, and the printing unit 24 that does not need to apply can control the corresponding lifting drive motor to make the printing unit 24 rise as a whole and move away from the defective part. This method is suitable for the application of a single bio-glue solution and in-situ printing.

[0086] In some cases, in situ printing of the skin may require that different components of the bio-glue solution (e.g., glue and cross-linking agent) be applied to the same position simultaneously or slightly successively. In this case, the two printing units 24 can be simultaneously lowered to the defect site by controlling the driving assembly, and the rotating driving motor can be controlled to rotate each printing unit 24 at an appropriate angle at the same time, so that each needle 242 is close to the defect site at the same time, and then the two printing units 24 can be made to cooperate with each other by simultaneously introducing air into the barrel 241 of the two printing units 24, controlling the lifting action of each printing lifting unit 22 and the rotation action of the printing bracket, so as to complete the simultaneous or slightly successively coating process of different components of the bio-glue solution.

[0087] In addition, when the defect area is large, the driving motor of the driving mechanism 33 can be controlled to make the patient's body rotate accordingly, so there is no need to let the patient turn his body repeatedly.

[0088] Example Function and Effect

[0089] According to the skin in-situ printing device provided by this embodiment, since it has multiple print head devices, it is possible to apply and print different bio-glue components respectively, thereby completing the skin in-situ printing work. Since the print head device has a printing lifting unit and a printing moving component, wherein the printing lifting unit can lift the printing support and the printing unit as a whole, when multiple print head devices are simultaneously installed on a skin in-situ printing device, the printing unit that is not needed can be raised to the top of the printing position to avoid interference; the printing moving component can move the printing lifting unit, the printing support and the printing unit as a whole horizontally, so that the multiple print head devices can move independently in the horizontal direction, that is, their movement direction and movement speed can be set differently according to the actual coating needs, thereby making the coating of different bio-glue solutions by multiple printing units more accurate and orderly. At the same time, the control device can control the bearing device, multiple print head devices, the coating power device and the print head moving device respectively, so that the actions of these devices can be coordinated, so that complex printing actions can be completed, so that the skin layers with different properties and different microstructures can be printed and formed at one time.

[0090] In addition, multiple print head devices can also allow different components of bio-glue solution and cross-linking agents to be applied separately during the printing process, thereby avoiding premature cross-linking and coagulation of the bio-glue solution (for example, when using the same print head device to print bio-glue pre-mixed with a cross-linking agent, it is very likely that the bio-glue will coagulate before all printing is completed).

[0091] In the embodiment, the printing moving assembly includes a printing moving ball bearing and a printing moving driving motor, and the printing moving driving motor is installed on the printing moving ball bearing, so that the printing moving ball bearing can be driven by the printing moving driving motor to move in the horizontal direction, thereby causing the printing unit to move in the horizontal direction. In addition, when multiple print head devices are working at the same time, by controlling their respective printing moving driving motors separately, different movements of the multiple printing units in the horizontal direction can be achieved, thereby achieving accurate coating of different bio-glue solutions.

[0092] In the embodiment, the accommodating portion is generally in the shape of a rectangular parallelepiped and has a vertically extending accommodating hole portion inside. The size of the accommodating hole portion is adapted to the cylinder of the printing unit and a rubber gasket is provided on the inner wall. Therefore, the cylinder can be well clamped and the relative positions of the cylinder and the accommodating portion can be kept consistent, so that when the accommodating portion moves, the cylinder and needle of the printing unit can move accordingly, thereby avoiding displacement and coating error problems caused by poor fixation between the printing unit and the accommodating portion, and improving the accuracy of in-situ printing.

[0093] In addition, the carrying device can carry and rotate the patient so that the movement of the predetermined part of the patient is coordinated with the printing action of the print head device, so that the coating accuracy of the print head device is high. Since the carrying device itself can rotate, the patient only needs to lie flat or prone on the carrying device during printing. At this time, even if the patient is fixed, the patient will not feel uncomfortable, which can improve the comfort of the patient during the treatment process.

[0094] The above embodiments are only used to illustrate specific implementations of the present invention, and the skin in-situ printing mechanism of the present invention is not limited to the scope described in the above embodiments.

[0095] For example, in the embodiment, the accommodating portion is in the shape of a rectangular parallelepiped and has a vertically extending accommodating hole portion inside, but in the present invention, the accommodating portion may also be a clamping type accommodating portion, that is, the accommodating portion includes two mutually hinged clamping portions to clamp the cylinder. At the same time, a rubber gasket may also be provided on the clamping type accommodating portion to make the clamping of the cylinder more secure. Compared with the through-hole accommodating portion, this type of clamping type accommodating portion is slightly worse in maintaining the relative position, which slightly reduces the accuracy of in-situ printing, but it is easier to fix and remove the syringe, so the operation is simpler and faster, and is more suitable for acute and temporary in-situ skin printing.

[0096] The print head moving device of the embodiment adopts the pressurized air provided by the pressure providing device as the power, so that the bio-glue in the printing unit can be squeezed out under the pressure of the filtered clean compressed air to complete the coating. During the process, the pressure and flow rate can be controlled by controlling the pressure regulator, and then the coating speed can be controlled. Therefore, the control process can be realized through electrical signals, so that the bio-glue coating process is easier to cooperate with the movement of the printing unit itself, and the ideal skin printing effect is achieved. However, in the present invention, mechanical extrusion (for example, a plunger is arranged in the barrel to control the plunger to extrude the bio-glue) and other forms can also be adopted. Compared with the form of pressurized air, the pressure control and basic speed control of mechanical extrusion are directly realized by controlling the extrusion component, and the control process is more accurate, but because a sensor needs to be set to monitor the pressure and extrusion speed, the cost is higher.

[0097] In the embodiment, the print head moving device is in the form of a multi-axis moving device, but in the present invention, the print head moving device can also be in the form of a mechanical arm moving device, that is, multiple mechanical arms are hinged and driven by steering gears to realize a moving device similar to the movement of human arms. In this case, multiple mechanical arms corresponding to the print head devices can be set, and each print head device can be installed on the corresponding mechanical arm, so as to realize the coordinated movement of each print head device. In addition, when installing, the lifting slot of the print head device can be directly fixed to the end part of the mechanical arm.

Claims

1. A skin in-situ printing device, used to apply biological glue to form artificial skin by printing on a predetermined part of the human body, characterized in that: include: A carrying device, used for carrying and rotating the patient; A plurality of print head devices, used for applying the bio-glue to the predetermined part; A coating power device, used to provide the printing head device with power to allow the bio-glue and the cross-linking agent to be squeezed out of the nozzle unit when coating the bio-glue and the cross-linking agent; A print head moving device, used to move the print head device to the predetermined position; and a control device for controlling the carrier device, the print head device, the coating power device and the print head moving device, so that the rotation action of the carrier device, the coating action of the print head device, the power supply action of the coating power device and the moving action of the print head moving device cooperate with each other to coat the bio-glue and the cross-linking agent on the predetermined part of the patient, The print head device comprises: A printing unit, used for containing and applying different bio-glue components, comprising a cylinder for containing the bio-glue and a needle disposed at the bottom of the cylinder for applying the bio-glue; A printing lifting assembly, used for lifting the printing unit, comprises a lifting slot, a lifting screw arranged in the lifting slot, a lifting ball bearing sleeved on the lifting screw by threaded connection to form a ball screw pair with the lifting screw, and a lifting drive motor; A printing moving component, used for horizontally moving the printing lifting unit so that the printing unit moves horizontally; and The printing bracket comprises a mounting portion mounted on the lifting ball bearing, a connecting portion arranged on a side surface of the mounting portion, and an accommodating portion arranged on an end of the connecting portion away from the mounting portion for accommodating the barrel.

2. The skin in-situ printing device according to claim 1, characterized in that: in, The printing moving component comprises a printing moving ball bearing fixed on the lifting slot and a printing moving driving motor installed on the printing moving ball bearing.

3. The skin in-situ printing device according to claim 1, characterized in that: in, A vertically extending accommodating hole is provided in the accommodating portion. The outer diameter of the cylinder is adapted to the inner diameter of the accommodating hole.

4. The skin in-situ printing device according to claim 1, characterized in that: in, The receiving portion has two clamping portions which are hinged to each other and are used to clamp the cylinder. A plurality of rubber gaskets are arranged on the inner side surface of the clamping portion.

5. The skin in-situ printing device according to claim 1, characterized in that: in, The printing support also has a rotation drive motor arranged in the mounting portion. One end of the connecting portion extends into the mounting portion and is fixedly connected to the output end of the rotary drive motor, so that the connecting portion can rotate relative to the mounting portion under the drive of the rotary drive motor.

6. The skin in-situ printing device according to claim 1, characterized in that: in, The print head moving device comprises a supporting assembly and a first moving assembly and a second moving assembly arranged on the supporting assembly. The first moving assembly includes a first groove and a first lead screw extending in a first horizontal direction, a first ball bearing mounted on the first lead screw by threaded connection, and a first sliding rod arranged parallel to the first lead screw; The second moving assembly includes a second fixing portion sleeved on the first sliding rod, a second groove extending along a second horizontal direction, and a second lead screw arranged in the second groove and extending along the second horizontal direction, one end of the second groove is fixed to the second fixing portion, and the other end is fixed to the first ball bearing. The print head device also has a print moving assembly, which includes a print moving ball bearing and a print moving drive motor. The printing moving ball bearing is sleeved on the second lead screw through a threaded connection, thereby forming a ball screw pair structure together with the second lead screw. The lifting slot is fixed on the printing moving ball bearing. The printing movement driving motor is arranged on the printing movement ball bearing, and is used for driving the printing movement ball bearing to move along the second direction, thereby making the lifting slot move along the second direction as a whole.

7. The skin in-situ printing device according to claim 6, characterized in that: in, The support assembly includes a first support platform and a second support platform in the shape of a rectangular parallelepiped, The first groove is arranged on the first supporting platform, The first sliding bar is fixed on the second supporting platform. The carrying device is located between the first supporting platform and the second supporting platform.

8. The skin in-situ printing device according to claim 6, characterized in that: in, Two first slide rails extending along a first horizontal direction are also arranged in the first groove. The first ball bearing is provided with two first embedding grooves respectively embedded in the first slide rail.

9. The skin in-situ printing device according to claim 1, characterized in that: in, The coating power device is a pressure providing device, which is used to provide compressed air to the barrel so as to squeeze the biological glue in the barrel out of the needle. The printing unit further comprises a cylinder cover for sealing the cylinder body, and the cylinder cover is also provided with an air inlet for communicating with the pressure providing device.

10. The skin in situ printing device according to claim 1, Features: Wherein, the carrying device comprises: The base comprises a horizontal portion, two vertical portions respectively arranged at two ends of the horizontal portion, and a mounting groove formed by the two vertical portions and the horizontal portion, wherein the inner surfaces of the upper ends of the two vertical portions are both provided with mounting holes; A bearing platform, installed in the mounting groove, used to bear the patient, comprising a bottom plate and two side plates respectively fixed at two ends of the bottom plate, wherein the outer surfaces of the two side plates are provided with a fixing shaft for fixing in the mounting hole; and The driving mechanism is used to drive the support platform to swing around the axis formed by the two fixed shafts in the installation groove, so that the movement of the predetermined part of the patient on the support platform can cooperate with the printing action of the print head device.

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