Skin in situ printing device

Abstract

The present invention provides a skin in-situ printing device for applying bio-glue and cross-linking agent to a predetermined part of a patient, and has the following characteristics, including: a platform device for carrying and rotating a patient; a print head device having a support unit and a nozzle unit; a storage device including a first storage device and a second storage device; a coating power device for providing coating power to the storage device; a three-axis moving device for driving the print head device to move to a predetermined part; and a control device, wherein the nozzle unit has a first nozzle and a second nozzle, the first nozzle has a first tube portion and a first nozzle head portion, the two ends of the first tube portion are respectively connected to the first storage device and the first nozzle head portion, the second nozzle has a second tube portion and a second nozzle head portion, the two ends of the second tube portion are respectively connected to the second storage device and the second nozzle head portion, the second nozzle extends and passes through the tube wall of the first tube portion, so that the second nozzle head portion is located at the central axis position of the inner cavity of the first tube 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 printing skin has been developed in the prior art. That is, a biopolymer material (such as bio-glue) containing skin layer cells is directly applied to the damaged part to form an artificial skin with adaptive shape. However, bio-glue itself does not have coagulation properties, and a cross-linking agent must be added to solidify into artificial skin. At the same time, the viscosity of bio-glue is relatively large, and stirring and other means are required to ensure uniform mixing. Therefore, in the prior art, bio-glue pre-mixed with a cross-linking agent is generally used for coating. However, such a method requires that the coating speed must be very fast, otherwise the remaining bio-glue will solidify and cannot continue to be coated; or, a small amount of the mixed solution of the cross-linking agent and the bio-glue is used for coating each time, and a total of multiple mixing and coating are required. Such a process is not only too cumbersome and laborious, but also multiple mixing increases the risk of contamination of the skin layer cells in the bio-glue.

[0005] If the bio-glue and the cross-linking agent are applied separately, the bio-glue will be exposed to light and air environment in advance, increasing the risk of skin layer cells in the bio-glue being contaminated. In addition, it is difficult to control the degree of mixing of the bio-glue and the cross-linking agent when they are applied separately.

[0006] In addition, when separate coating is performed, the coating device (including the containing device and the coating device) is often a disposable device, so the replacement of the bio-glue or cross-linking agent can only be done by replacing the coating device as a whole, which is costly. In particular, when the patient's skin is damaged over a large area, the amount of bio-glue and cross-linking agent required is also large, and the disposable coating device (including the containing device and the coating device) usually has a small amount of liquid. This is because if the amount of liquid is too large, it will affect the accuracy of its coating. Therefore, the coating device must be replaced during the above coating process. Replacing the coating device not only delays the progress of the operation and prolongs the operation time, but also causes the coating process to be unable to proceed continuously, resulting in faults or separations in the printed skin, affecting the overall printing effect.

[0007] In addition, it is difficult to accurately control the coating direction with the existing technology, so the printing accuracy is also low.

[0008] In addition, the position and angle of the damaged parts of the patients are different, and the nozzle needs to maintain a certain angle with the human body surface to ensure the coating effect. Therefore, in order to cooperate with the coating angle as much as possible, the patient must keep turning sideways, turning over or lying flat. On the one hand, these actions cannot accurately meet the coating angle requirements, making the coating accuracy not high enough; on the other hand, it is difficult for the patient to keep turning sideways or turning over. Once the patient's posture changes, it will seriously affect the coating accuracy; if the patient is fixed after turning sideways or turning over and then coating, although the patient's posture can be kept unchanged, the patient will feel very uncomfortable, which is not conducive to treatment. Summary of the invention

[0009] The present invention is made to solve the above-mentioned problems, and its purpose is to provide a skin in-situ printing device.

[0010] The present invention provides a skin in-situ printing device, which is used to apply biological glue and a cross-linking agent to a predetermined part of a patient by printing to form artificial skin, and has the following characteristics: a platform device, which is used to carry and rotate the patient; a print head device, which is used to apply the biological glue and the cross-linking agent to the predetermined part, and has a bracket unit and a nozzle unit arranged on the bracket unit; a storage device, which includes a first storage device and a second storage device; a coating power device, which is used to provide coating power to the storage device; a three-axis moving device, which is used to drive the print head device to move to the predetermined part; and a control device, which is used to control the platform device, the print head device, the coating power device and the three-axis moving device, so that the rotation action of the platform device, the printing action The coating action of the print head device, the power providing action of the coating power device and the moving action of the three-axis moving device cooperate with each other to coat the bioglue and the cross-linking agent on the predetermined part of the patient, wherein the nozzle unit has a first nozzle and a second nozzle, the first nozzle is connected to the first storage device, the second nozzle is connected to the second storage device, the first nozzle has a first tube part and a first nozzle part, one end of the first tube part is connected to the first storage device, and the other end is connected to the first nozzle part, the second nozzle has a second tube part and a second nozzle part, one end of the second tube part is connected to the second storage device, and the other end is connected to the second nozzle part, the second nozzle extends and passes through the tube wall of the first tube part, so that the second nozzle part is located at the central axis position of the inner cavity of the first tube part.

[0011] The skin in situ printing device provided by the present invention may also have the following feature: wherein the extension direction of the second tube portion is bent toward the first nozzle portion, so that the liquid outlet of the second nozzle portion is located on the central axis of the liquid outlet of the first nozzle portion.

[0012] The skin in situ printing device provided by the present invention may also have the following feature: the inner wall of the lower part of the first tube part has a protrusion.

[0013] The skin in situ printing device provided by the present invention may also have the following characteristics: wherein the inner diameter of the first tube portion is 1.5 to 3 times the diameter of the liquid outlet of the second nozzle head portion, and the distance from the liquid outlet of the second nozzle head portion to the liquid outlet of the first nozzle head portion is 1 to 5 cm.

[0014] The skin in-situ printing device provided by the present invention may also have the following feature: wherein the coating power device is of pneumatic type or mechanical extrusion type.

[0015] In the skin in situ printing device provided by the present invention, it can also have the following features: wherein, the three-axis moving device has a fixing plate for fixing the print head device, and a plurality of fixing holes are arranged on the fixing plate. The bracket unit includes a connector and a bracket body connected to the connector for accommodating the nozzle unit. The connector has a connecting plate, and a plurality of mounting holes are arranged on the connecting plate. The mounting holes are used to install the connecting plate on the fixing holes at different positions by bolts so that the bracket unit can be installed at different positions of the fixing plate. The bracket body is a accommodating bracket body or a clamping bracket body.

[0016] In the skin in situ printing device provided by the present invention, it can also have the following characteristics: wherein, the platform 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 with a flat upper surface and two triangular 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 triangular 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.

[0017] The skin in situ printing device provided by the present invention may also have the following features: wherein the driving mechanism includes a stepper motor and a signal receiver electrically connected to the stepper motor, the stepper motor and the signal receiver are both arranged in the vertical part, and the signal receiver is used to receive a driving signal from the control device, so that the stepper motor rotates under the drive of the driving signal.

[0018] In the skin in situ printing device provided by the present invention, it can also have the following characteristics: wherein, the three-axis moving device has a supporting assembly and a first screw assembly, a second screw assembly and a third screw assembly arranged on the supporting assembly, the third screw assembly has a third ball bearing portion, and the third ball bearing portion is used to move in the vertical direction so that the print head device moves in the vertical direction, the second screw assembly is used to drive the third screw assembly to move in the second horizontal direction so that the print head device moves in the second horizontal direction, the first screw assembly is used to drive the second screw assembly to move in the first horizontal direction so that the third screw assembly and the print head device move in the first horizontal direction, and the first horizontal direction and the second horizontal direction are perpendicular to each other.

[0019] In the skin in situ printing device provided by the present invention, it can also have the following characteristics: wherein, the first screw assembly is arranged on the support assembly, and has a first screw extending along the first horizontal direction, a first ball bearing portion installed on the first screw by threaded connection, and a first slide rod arranged parallel to the first screw; the second screw assembly has a second screw extending along the second horizontal direction, a slide groove connected to both ends of the second screw, a second ball bearing portion arranged in the slide groove and installed on the second screw by threaded connection, one end of the slide groove is provided with a second fixing portion penetrated by the first slide rod and the other end is fixed on the first ball bearing portion; the third screw assembly has a third screw extending in the vertical direction, a third ball bearing portion installed on the third screw by threaded connection, a third slide rod arranged parallel to the third screw, and a third fixing portion fixedly combined with the second ball bearing portion and fixedly connected to the third screw and both ends of the third slide rod.

[0020] Functions and Effects of the Invention

[0021] According to the skin in situ printing device involved in the present invention, because it has a platform device, a print head device, a storage device, a coating power device and a three-axis moving device, the print head device is provided with a nozzle unit, the nozzle unit has a first nozzle and a second nozzle, the first nozzle has a first tube part and a first nozzle head part, the second nozzle has a second tube part and a second nozzle head part, the first tube part and the second tube part are connected to the first storage device and the second storage device respectively, so when coating, the biological glue (or cross-linking agent) stored in the first storage device can enter the first nozzle, and the cross-linking agent (or biological glue) stored in the second storage device can enter the second nozzle, and because the second nozzle extends and passes through the tube wall of the first tube part, the second nozzle head is located in the inner cavity of the first nozzle, so the cross-linking agent (or biological glue) can enter the inner cavity of the first nozzle through the second nozzle, thereby contacting and mixing with the biological glue (or cross-linking agent) in the first nozzle, and after mixing, it is squeezed out from the first nozzle head and coated on the damaged part. Such a mixing and coating method can achieve a better mixing effect, and will neither cause premature solidification of the bio-glue and the cross-linking agent after mixing, nor cause premature exposure of the bio-glue to the environment.

[0022] Therefore, during coating, it is only necessary to move the entire print head device according to the set coating direction. Then, the mixed bio-glue and cross-linking agent squeezed out from the first nozzle head can be coated on the damaged part and quickly solidified to finally obtain artificial skin with adapted shape and structure, achieving a good coating effect.

[0023] In addition, since the second nozzle head is located at the central axis position of the inner cavity of the first nozzle, the crosslinking agent (or bio-glue) flowing out of the second nozzle head can be more fully contacted and mixed with the bio-glue (or crosslinking agent) in the first tube, achieving a better mixing effect.

[0024] In addition, since the storage device (including the first memory and the second memory) is arranged separately from the nozzle unit, a large amount of biological glue and cross-linking agent can be stored (contained) in the storage device, which will not affect the accuracy of the movement of the print head device and thus the printing accuracy of the nozzle unit, and can meet the skin printing needs of patients with large areas of skin damage.

[0025] In addition, the coating power device can provide coating power to achieve the coating of the bio-glue and the cross-linking agent. The coating power device can adjust the extrusion speed of the bio-glue and the cross-linking agent, thereby facilitating the adjustment of the coating speed.

[0026] In addition, the three-axis moving device can move the bracket unit with three degrees of freedom in space, so that the bracket unit can accurately reach the predetermined position and perform coating according to a pre-set coating method, thereby making the coating effect more precise and the coating speed faster.

[0027] In addition, the platform 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 platform device itself can rotate, the patient only needs to lie flat or prone on the platform device during printing. At this time, even if the patient is fixed, the patient will not feel uncomfortable, which improves the comfort of the patient during the treatment process. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a schematic structural diagram of a skin in-situ printing device in an embodiment of the present invention;

[0029] Figure 2 is a schematic structural diagram of a print head device in an embodiment of the present invention;

[0030] Figure 3 is a schematic structural diagram of a nozzle unit in an embodiment of the present invention;

[0031] Figure 4 is a schematic structural diagram of a platform device in an embodiment of the present invention; and

[0032] Figure 5 It is a schematic diagram of the structure of the carrier platform in an embodiment of the present invention. DETAILED DESCRIPTION

[0033] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the following embodiments and the accompanying drawings specifically illustrate the skin in-situ printing device of the present invention.

[0034] <Example>

[0035] Figure 1It is a schematic structural diagram of the in-situ skin printing device in the embodiments of the present invention.

[0036] As Figure 1 shown, the in-situ skin printing device 100 includes a three-axis moving device 10, a storage device (not shown in the figure), a print head device 20, a coating power device (not shown in the figure), a platform device 30, and a control device (not shown in the figure).

[0037] Among them, the print head device 20 is used to coat

[0038] the biological glue on a predetermined part, and the three-axis 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. The platform device 30 is used to carry the patient and place the damaged skin of the patient at the predetermined part for skin printing. The control device is used to control the three-axis moving device 10, the print head device 20, the coating power device, and the platform device 30, so that the moving action of the three-axis moving device 10, the coating action of the print head device 20, the power supply action of the coating power device, and the rotation action of the platform device 30 cooperate with each other to coat the biological glue on the predetermined part of the patient.

[0039] As Figure 1 shown, the three-axis moving device 10 includes a first lead screw assembly 11, a second lead screw assembly 12, a third lead screw assembly 13, a support mechanism 14, and a plurality of drive motors (i.e., the first drive motor, the second drive motor, and the third drive motor, all not shown in the figure).

[0040] The support mechanism 14 includes a first support platform 141 and a second support platform 142. The first support platform 141 extends along the first horizontal direction. The second support platform 142 is arranged parallel to the first support platform 141.

[0041] The first lead screw assembly 11 includes a first fixing part 111, a first lead screw 112, a first ball bearing part 113, and a first slide bar 114.

[0042] The first fixing part 111 is in a "C" shape and is arranged on the top of the first support platform 141. Both sides of the first fixing part 111 are provided with convex rails extending along the first horizontal direction.

[0043] The first lead screw 112 extends along the first horizontal direction, and both ends are respectively fixed to both ends of the first fixing part 111.

[0044] The first ball bearing part 113 is sleeved on the first lead screw 112, and the inner shell of the first ball bearing part 113 is installed on the first lead screw 112 by threaded connection, so that the first ball bearing part 113 and the first lead screw 112 form a ball screw pair structure. The outer shell of the first ball bearing part 113 is provided with a groove matching the convex track of the first fixing part 111.

[0045] In this embodiment, a first drive motor is disposed at one end of the first fixing portion 111, and an output end of the first drive motor is connected to an end of the first lead screw 112. When the first drive motor outputs a driving force, the first lead screw 111 rotates under the drive of the first drive motor.

[0046] The first slide bar 114 is fixed on the top of the second support platform 142 , so the first slide bar 114 can neither rotate nor move.

[0047] The second screw assembly 12 includes a slide groove 121 , a second screw 122 and a second ball bearing portion 123 .

[0048] The extending direction of the slide groove 121 is perpendicular to the first horizontal direction (hereinafter referred to as the second horizontal direction). A second fixing portion 124 is provided at one end of the slide groove 121. The second fixing portion 124 is provided with a hole portion whose inner diameter is adapted to the first slide bar 114. The first slide bar 114 passes through the hole portion so that the second fixing portion 124 is sleeved on the first slide bar 114. The other end of the slide groove 121 is fixed to the outer shell of the first ball bearing portion 113.

[0049] Therefore, when the first drive motor drives the first screw 112 to rotate, the freedom of movement of the slide groove 121 is limited by the first slide rod 114, so that it moves as a whole along the first horizontal direction under the driving action of the ball screw pair formed by the first screw 112 and the first ball bearing part 113.

[0050] The second lead screw 122 extends along the second horizontal direction, and two ends thereof are fixedly coupled to two ends of the slide slot 121 through rotary bearings.

[0051] The second ball bearing 123 has a similar structure to the first roller bearing 113, and also has an inner shell and an outer shell that can rotate relative to each other. The second ball bearing 123 is arranged in the slide groove 121, and its inner shell is sleeved on the second lead screw 121 through a threaded combination, so that the second ball bearing 123 and the second lead screw 122 form a ball screw pair structure. The outer shell of the second ball bearing 123 is in a protruding shape, so that it is embedded in the slide groove 121.

[0052] In this embodiment, the second driving motor is arranged at the end of the sliding groove 121 connected to the first ball bearing portion 113. Thus, while the second lead screw 122 moves integrally along the first horizontal direction under the driving action of the first lead screw 112 and the first ball bearing portion 113, it can also rotate itself under the drive of the second driving motor, thereby driving the inner housing of the second ball bearing portion 122 to rotate.

[0053] The third lead screw assembly 13 includes a third fixing portion 131, a third lead screw 132, a third ball bearing portion 133, a third sliding rod 134, and a fixing plate 135.

[0054] The third fixing portion 131 is in a "C" shape and is arranged in the vertical direction, and its outer side wall is fixedly connected to the outer housing of the second ball bearing portion 122. Thus, the sliding groove 121 restricts the movement freedom of the third fixing portion 131, so that when the second driving motor drives the second lead screw 122 to rotate and drives the inner housing of the second ball bearing portion 123 to rotate, the third fixing portion 131 moves integrally along the second horizontal direction.

[0055] The third lead screw 132 extends in the vertical direction, and its two ends are installed on the third fixing portion 131 through rolling bearings.

[0056] The structure of the third ball bearing portion 133 is similar to that of the first ball bearing portion 113. It also has an outer housing and an inner housing that can rotate relative to each other, and the inner housing is also sleeved on the third lead screw 132 through a threaded coupling.

[0057] The third sliding rod 134 is arranged on both sides of the third fixing portion 131. In this embodiment, a groove body matching the shape of the third sliding rod 134 is further arranged on the side surface of the outer housing of the third ball bearing portion 133 facing the third fixing portion 131.

[0058] The fixing plate 135 is arranged on the side surface of the outer housing of the third ball bearing portion 133背离 the third fixing portion 131 and is used to fix the print head device 20. A plurality of fixing holes are arranged on the fixing plate 135, and the heights of these fixing holes are different.

[0059] In this embodiment, the third driving motor is arranged in the third fixing portion 131, and its output end is connected to one end of the third lead screw 132. When the third lead screw 132 moves integrally along the second horizontal direction under the drive of the second driving motor and the second lead screw 122, the second ball bearing portion 123, etc., it can also rotate itself under the drive of the third driving motor and thereby drive the third ball bearing portion 133 to move in the vertical direction.

[0060] In this embodiment, the first drive motor, the second drive motor and the third drive motor are all servo motors, which can rotate forward or reverse with different drive signals. Therefore, the ball screw pair formed by the first lead screw 112 and the first ball bearing part 113 can realize back and forth movement in the first horizontal direction, the ball screw pair formed by the second lead screw 122 and the second ball bearing part 123 can realize back and forth movement in the second horizontal direction, and the ball screw pair formed by the third lead screw 132 and the third ball bearing part 133 can realize back and forth movement in the vertical direction. Therefore, the three-axis mobile device 10 of this embodiment can realize movement with three degrees of freedom.

[0061] The storage device (not shown in the figure) includes a first storage device and a second storage device. The first storage device and the second storage device are used to store the bio-glue and the cross-linking agent, respectively. In this embodiment, the first storage device stores the bio-glue, and the second storage device stores the cross-linking agent. The first storage device and the second storage device are connected together and fixed on the first support platform 141 or the second support platform 142. In this embodiment, both the first storage device and the second storage device are provided with an air inlet.

[0062] like Figure 2 As shown, the print head device 20 includes a support unit 21 and a nozzle unit 22 .

[0063] The bracket unit 21 includes a bracket body 211 , a connecting body 212 and a rotating assembly (not shown in the figure).

[0064] The bracket body 211 is a receiving bracket body in this embodiment. The bracket body 211 is in a rectangular parallelepiped shape, and is provided with a receiving through hole (not shown in the figure) in the vertical direction, and the receiving through hole is used to install the nozzle unit 22. In order to be able to clamp the nozzle unit 22 well, a plurality of raised rubber gaskets are also provided on the inner side wall of the receiving through hole.

[0065] The connecting body 212 includes a transverse plate 2121 and a connecting plate 2122 .

[0066] The rotating assembly includes a rotating drive motor arranged in the horizontal plate 2121 and a rotating part connected to the output end of the rotating drive motor. The rotating part extends out of the horizontal plate 2121 and is not fixedly connected to the bracket body 211. Therefore, it can rotate under the drive of the rotating drive motor, so that the bracket body 211 rotates relative to the horizontal plate 2121.

[0067] The connecting plate 2122 is vertically connected to the end of the horizontal plate 2121 away from the rotating part. The connecting plate 2122 is provided with a plurality of mounting holes, and the mounting holes are used to mount the connecting plate 2122 on the fixing holes at different positions by bolts so that the bracket unit 21 is mounted on different positions of the fixing plate 135 of the three-axis mobile device 10. Therefore, the bracket unit 21 can realize three-degree-of-freedom movement with the three-axis mobile device 10.

[0068] Figure 3 Schematic diagram of the structure of the nozzle unit in the embodiment of the present invention.

[0069] like Figure 3 As shown, the spray head unit 22 includes a first spray pipe 221 and a second spray pipe 222 .

[0070] The first nozzle 221 includes a first pipe portion 2211 and a first nozzle portion 2212 .

[0071] The first tube portion 2211 may be in various shapes such as cylindrical, rectangular, etc. In the present embodiment, the first tube portion 2211 is cylindrical. The outer diameter of the first tube portion 2211 is adapted to the inner diameter of the receiving through hole 2111, so that the first tube portion 2211 can be placed in the receiving through hole 2111 and is tightly stuck in the receiving through hole 2111 due to the action of the rubber gasket, so that the first tube portion 2211 is not easy to slip off when the receiving through hole 2111 rotates.

[0072] The upper end of the first tube 2211 is connected and communicated with the first storage via a connecting tube. The specific connection method is: a thread is provided on the outer wall of the upper end of the first tube 2211, and a thread matching the thread of the first tube 2211 is provided on the connecting tube, so that the connecting tube is detachably mounted on the first tube 2211. Therefore, the bio-glue stored in the first storage can be introduced into the inner cavity of the first tube 2211 through the connecting tube.

[0073] The first spray head 2212 is connected to the lower end of the first tube 2211 and is used to apply the liquid in the first tube 2211 to a predetermined position. The central axis of the liquid outlet of the first spray head 2212 and the central axis of the first tube 2211 are coaxial.

[0074] The second nozzle 222 includes a second pipe portion 2221 and a second nozzle portion 2222. In this embodiment, the second nozzle 222 is used to apply a cross-linking agent.

[0075] One end of the second tube 2221 is connected to and communicates with the second storage via another connecting tube. The connection between the second tube 2221 and the connecting tube is the same as the connection between the first tube 2211 and the connecting tube, both of which are threaded connections.

[0076] The second nozzle part 2222 is connected to the other end of the second pipe part 2221 .

[0077] The second tube portion 2221 extends and passes through the tube wall of the first tube portion 2211. In this embodiment, the second tube portion 2221 is non-linear. The extension direction of the second tube portion 2221 is bent toward the first nozzle portion 2212, so that the second nozzle portion 2222 is located at the central axis position of the inner cavity of the first nozzle, and the liquid outlet of the second nozzle portion 2222 is located on the central axis of the liquid outlet of the first nozzle portion 2212.

[0078] Therefore, the cross-linking agent stored in the second storage device can also be introduced into the inner cavity of the second tube portion 2221 through the connecting tube, and flow into the inner cavity of the first tube portion 2221 through the second nozzle portion 2222 to contact and mix with the biological glue.

[0079] In order to make the flow direction of the cross-linking agent flowing out of the second nozzle head 2222 more complicated, the edge of the liquid outlet of the second nozzle head 2222 is preferably set to be serrated.

[0080] In this embodiment, in order to make the mixing between the bio-glue and the cross-linking agent more complete, the inner diameter of the first tube portion 2211 is 1.5 to 3 times the diameter of the liquid outlet of the second nozzle head 2222. The distance between the liquid outlet of the second nozzle head 2222 and the liquid outlet of the first nozzle head 2212 is 1 to 5 cm. A protrusion is provided on the inner wall of the lower part of the second nozzle head 2222. In this embodiment, the protrusion is a spirally ascending thread structure.

[0081] In this embodiment, the coating power device is of pneumatic type, that is, a pressure providing device, which is powered by pressurized air and includes a gas storage device, a pressure regulator and an air filter (all not shown in the figure).

[0082] The gas storage is used to provide pressurized air, and the gas storage can be a compressed air tank or other forms of compressed air storage components; the pressure regulator is an electromagnetic regulating valve arranged on the pressurized air outlet of the gas storage, which is used to adjust the flow rate of the pressurized air provided by the gas storage, thereby adjusting the pressure; the air filter is connected to the pressure regulator and the two air inlets through the conduit, respectively, and is used to filter the pressurized air after the pressure is adjusted and simultaneously deliver the filtered pressurized air to the inner cavity of the first pipe part 2211 and the second pipe part 2221 through the two air inlets. Closing clips are provided on the two air inlets, which are used to close the air inlets when the first storage and the second storage do not need pressurized air.

[0083] Figure 4 It is a schematic diagram of the structure of the platform device in an embodiment of the present invention.

[0084] like Figure 4As shown, the platform device 30 includes: a base 31, a supporting platform 32, a driving mechanism 33, a pair of socket portions (not shown in the figure), a fixing assembly 35, a pair of adjustment groove portions (not shown in the figure) and two baffles 37.

[0085] The base 31 is placed on the ground, and includes a horizontal portion 311 and two vertical portions 312. The horizontal portion 311 is placed horizontally on the ground.

[0086] The two vertical portions 312 are respectively arranged at two ends of the horizontal portion 311 along a line perpendicular to the horizontal portion 311 . The heights of the two vertical portions 312 are higher than that of the horizontal portion 311 . A mounting groove 313 is formed between the two vertical portions 312 and the horizontal portion 311 .

[0087] 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 limiting member (not shown in the figure) is provided on each of the two sides below the mounting holes.

[0088] Figure 5 It is a schematic diagram of the structure of the carrier platform in an embodiment of the present invention.

[0089] like Figure 5 As shown, the support platform 32 is installed in the installation groove 313 for supporting the patient, and includes a bottom plate 321, two triangular plates 322 and an air cushion layer.

[0090] The upper surface of the bottom plate 321 is a plane 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.

[0091] Two triangular plates 322 are respectively arranged at both ends of the bottom plate 321 in a direction perpendicular to the bottom plate 321. Fixed shafts 323 are arranged on the outer surfaces of the two triangular plates 322 at positions corresponding to the mounting holes of the vertical portion 312. The support platform 32 is installed in the mounting groove 313 by fixing the fixed shafts 323 in the mounting holes.

[0092] A block 324 protruding outward is disposed directly below the fixed shaft 323 .

[0093] 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 .

[0094] 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 313, so that the movement of the wound skin of the patient lying on the bottom plate can cooperate with the printing action of the print head device 20, including a stepper motor, an electronic handwheel and a signal receiver (not shown in the figure).

[0095] The stepper motor is disposed in the vertical portion 312 , and is used to drive the fixed shaft 323 of the support platform 32 to rotate in the mounting hole, thereby driving the bottom plate 321 to rotate.

[0096] The output end of the electronic handwheel is connected to the stepper motor, so that the medical staff can adjust it according to the printing requirements and send a driving signal to the stepper motor.

[0097] The signal receiver is arranged on the vertical portion 312 and connected to the stepper motor. The signal receiver is used to receive a driving signal from the control device, so that the stepper motor starts to rotate under the driving signal and then drives the carrier 32 to rotate.

[0098] During the rotation process, the block 324 moves with the rotation of the triangle plate 322, and the limit members on both sides of the mounting hole limit the movement path of the block 324, 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°.

[0099] A pair of card holder parts, each card holder part contains two card holders 34, the two card holders 34 are arranged at the upper end of one side of the bottom plate 321, and the two card holders 34 in the other card holder part are symmetrically arranged at the upper end of the other side of the bottom plate 321. In this embodiment, the positions of the four card holders 34 are located at the head and tail ends of the bottom plate 321.

[0100] The fixing assembly 35 includes a fixing belt 351 , a buckle 352 and an adjusting buckle 353 .

[0101] Buckles 352 are provided at both ends of the fixing belt 351, and are used in conjunction with the clamping seat 34. Buckles 352 are fixed in the clamping seat under the clamping of the clamping piece, so that the patient is fixed on the bottom plate 321. When the fixing belt 351 is unfastened, the clamping piece is pressed by the elastic pressing piece to disengage the buckle 352 from the clamping piece, and then the fixing belt 351 is unfastened to allow the patient to leave the bottom plate.

[0102] 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.

[0103] A pair of adjustment groove parts, each of which contains 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 three adjustment grooves 36 in the other adjustment groove part are symmetrically arranged in the middle of the other side of the bottom plate 321. In this embodiment, the interval between any two adjustment grooves 36 on the same side is 5 cm.

[0104] Two ends of the adjustment groove 36 are respectively provided with a positioning hole.

[0105] The length of the two baffles 37 is the same as the length of the adjustment groove 36, and a positioning pin 71 matching the positioning hole is respectively provided at both ends of the lower end of the baffle 37. By inserting the two positioning pins 71 into the positioning holes at both ends of the adjustment groove 36, the two baffles 37 are 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 the baffles 37 can be moved inward or outward to be fixed on the inner or outer adjustment groove 36 according to the body shape of the patient.

[0106] The control device in this embodiment is a computer (PC) equipped with a control program. The control program of the control device stores driving signals or instructions input by medical staff according to the printing needs of the patient. The control device communicates with the motor drivers of the driving motors or stepping motors corresponding to the three-axis moving device 10, the print head device 20, the power supply device, and the platform device 30, respectively, so as to control the mutual cooperation between the above devices to complete the patient's skin printing process.

[0107] The working principle of the skin in-situ printing device of this embodiment is described below with reference to the accompanying drawings.

[0108] Before skin printing, medical personnel can place the bio-glue solution and the cross-linking agent into the first storage and the second storage respectively under a sterile environment, connect the air filter and adjust the pressure regulator to close, so that the pressurized air cannot enter the first storage and the second storage. Then, let the patient lie flat on the support platform 32 of the platform device 30 and fix the patient on the support platform 32 through the fixing component 35, and send a control signal to the stepping motor of the platform device 30 through the control device, so that the support platform is rotated to a predetermined angle so that the skin injury part of the patient is in a predetermined position.

[0109] Then, the control device sends different control signals to each driving motor in the three-axis moving device 10, so that the three-axis moving device 10 drives the print head device 20 to the predetermined defective part where skin printing is required.

[0110] After reaching the predetermined position, the rotating component can be controlled to allow the first nozzle head 2212 to approach the defective position, and at the same time, the pressure regulator is opened and adjusted to allow pressurized air to enter the first storage device and the second storage device at a predetermined pressure, so that the biological glue in the first storage device and the cross-linking agent in the second storage device are squeezed out simultaneously due to pressure, wherein the biological glue is squeezed into the inner cavity of the first tube part 2211, and the cross-linking agent is squeezed into the inner cavity of the second tube part 2221 and flows into the inner cavity of the first tube part 2211 through the second nozzle head 2222. The biological glue and the cross-linking agent are mixed in the first tube part 2211 and then flow out from the first nozzle head 2212, so as to be coated on the predetermined position. Then, different control signals are sent to each driving motor in the three-axis moving device 10 through the control device, so that the three-axis moving device 10 drives the print head device 20 to coat in the set coating direction according to the set moving direction, thereby completing the coating of the entire predetermined position to obtain a printed skin with a suitable shape.

[0111] In the above process, by controlling the three-axis moving device 10, the print head device 20, the platform device 30 and the pressure regulator through the control device, the nozzle unit 22 can extrude and apply the bio-glue solution and the cross-linking agent, so that the bio-glue solution can be quickly coagulated to obtain a printed skin with a suitable shape, a certain thickness and a pattern.

[0112] Functions and Effects of the Embodiments

[0113] According to the skin in situ printing device involved in this embodiment, because it has a platform device, a storage device, a print head device, a coating power device and a three-axis moving device, the print head device is provided with a nozzle unit, the nozzle unit has a first nozzle and a second nozzle, the first nozzle has a first tube portion and a first nozzle head portion, the second nozzle has a second tube portion and a second nozzle head portion, the first tube portion and the second tube portion are connected to the first storage device and the second storage device respectively, so when coating, the biological glue (or cross-linking agent) stored in the first storage device can enter the first nozzle, and the cross-linking agent (or biological glue) stored in the second storage device can enter the second nozzle, and since the second nozzle extends and passes through the tube wall of the first tube portion, the second nozzle head is located in the inner cavity of the first nozzle, so the cross-linking agent (or biological glue) can enter the inner cavity of the first nozzle through the second nozzle, thereby contacting and mixing with the biological glue (or cross-linking agent) in the first nozzle, and after mixing, it is squeezed out from the first nozzle head portion and coated on the damaged part. Such a mixing and coating method can achieve a better mixing effect, and will neither cause premature solidification of the bio-glue and the cross-linking agent after mixing, nor cause premature exposure of the bio-glue to the environment.

[0114] Therefore, during coating, it is only necessary to move the entire print head device according to the set coating direction. Then, the mixed bio-glue and cross-linking agent squeezed out from the first nozzle head can be coated on the damaged part and quickly solidified to finally obtain artificial skin with adapted shape and structure, achieving a good coating effect.

[0115] In addition, since the second nozzle head is located at the central axis position of the inner cavity of the first nozzle, the crosslinking agent (or bio-glue) flowing out of the second nozzle head can be more fully contacted and mixed with the bio-glue (or crosslinking agent) in the first tube, achieving a better mixing effect.

[0116] In addition, since the storage device (including the first memory and the second memory) is arranged separately from the nozzle unit, a large amount of biological glue and cross-linking agent can be stored (contained) in the storage device, which will not affect the accuracy of the movement of the print head device and thus the printing accuracy of the nozzle unit, and can meet the skin printing needs of patients with large areas of skin damage.

[0117] In addition, the coating power device can provide coating power to achieve the coating of the bio-glue and the cross-linking agent. The coating power device can adjust the extrusion speed of the bio-glue and the cross-linking agent, thereby facilitating the adjustment of the coating speed.

[0118] In addition, the three-axis moving device can move the bracket unit with three degrees of freedom in space, so that the bracket unit can accurately reach the predetermined position and perform coating according to a pre-set coating method, thereby making the coating effect more precise and the coating speed faster.

[0119] In addition, the platform 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 platform device itself can rotate, the patient only needs to lie flat or prone on the platform device during printing. At this time, even if the patient is fixed, the patient will not feel uncomfortable, which improves the comfort of the patient during the treatment process.

[0120] In the embodiment, the first tube portion and the second tube portion are respectively connected to the two connecting tubes in a threaded connection manner. This detachable connection method facilitates the replacement of the nozzle unit. In this way, when performing skin printing on different patients, only the nozzle unit can be replaced without replacing the first storage unit and the second storage unit together. This not only meets medical safety needs (preventing cross-infection between different patients caused by using the same nozzle unit) but also saves costs.

[0121] In the embodiment, the extension direction of the second tube portion is bent toward the first nozzle portion, so that the liquid outlet of the second nozzle portion is located on the central axis of the liquid outlet of the first nozzle portion. Therefore, the flow direction of the cross-linking agent flowing out of the liquid outlet of the second nozzle portion is vertically downward. At this time, the flow direction of the bio-glue in the first nozzle is also vertically downward. Therefore, the bio-glue cannot form a backflow at the liquid outlet of the second nozzle portion, thereby avoiding the bio-glue from solidifying and clogging the liquid outlet of the second nozzle portion.

[0122] In the embodiment, the inner wall of the lower part of the first tube has a protrusion, which changes the flow state of the bio-glue and the cross-linking agent in the lower part of the first tube to make their flow more disordered, thereby making the mixing of the bio-glue and the cross-linking agent more complete and the mixing effect better.

[0123] In an embodiment, the raised portion is spiral-shaped, and the spiral-shaped raised portion can cause the bio-glue and cross-linking agent in the first tube portion to rotate when flowing, and also increase the turbulence of the bio-glue and cross-linking agent fluids, thereby making the mixing of the bio-glue and cross-linking agent more complete and achieving a better mixing effect.

[0124] In the embodiment, the inner diameter of the first tube portion is 1.5 to 3 times the diameter of the liquid outlet of the second nozzle portion. This design allows the cross-linking agent flowing out of the second nozzle portion and the bio-glue in the first tube portion to contact and mix with each other in a suitable area. On the other hand, the cross-linking agent can be mixed with the bio-glue in a suitable proportion.

[0125] In an embodiment, the connector has a connecting plate on which a plurality of mounting holes are arranged, so that the connecting plate can be mounted on fixing holes at different positions of a fixing plate of the print head moving device by bolt connection through the mounting holes, thereby mounting the print head device at an appropriate height of the fixing plate.

[0126] In the embodiment, the platform device includes a base, a support table and a driving mechanism, so during the printing process, the patient can lie on the support table and the support table rotates a certain angle under the drive of the driving mechanism to reach a predetermined position, and then cooperate with the print head device.

[0127] In the embodiment, the driving mechanism includes a stepper motor and a signal receiver. Therefore, the control device can send a driving signal to the signal receiver to make the stepper motor drive the supporting platform to rotate, and the control method is simple.

[0128] The three-axis moving device in the embodiment has three sets of screw assemblies, which can provide three degrees of freedom of movement in three directions respectively, so that the print head device can achieve three-degree-of-freedom movement in space, allowing the print head device as a whole to reach different predetermined printing positions.

[0129] The coating power device in the embodiment is a pressure providing device, so that the bio-glue and cross-linking agent in the first storage device and the second storage device can be squeezed out under the pressure of filtered clean compressed air, and then mixed in the first nozzle 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, making the coating process of the bio-glue and cross-linking agent easier to coordinate with the movement of the nozzle unit itself, so as to achieve the ideal skin printing effect.

[0130] The above-mentioned embodiments are preferred examples of the present invention and are not intended to limit the protection scope of the present invention.

[0131] For example, in the embodiment, the extension direction of the second tube portion is bent toward the first nozzle portion, so that the liquid outlet of the second nozzle portion is located on the central axis of the liquid outlet of the first nozzle portion, which can achieve a good mixing effect on the one hand, and avoid the backflow of biological glue to block the liquid outlet of the second nozzle portion on the other hand. However, in the present invention, the second tube portion can be straight or straight. At this time, the extension direction of the second nozzle portion is bent toward the first nozzle portion, so that the liquid outlet of the second nozzle portion is located on the central axis of the liquid outlet of the first nozzle portion, which can also achieve the above-mentioned effect. In addition, in the present invention, the second tube portion can be straight, and the second nozzle portion is arranged on the extension line of the central axis of the second tube portion. Such a structure is simpler, but there is a certain risk that the liquid outlet of the second nozzle portion is blocked.

[0132] In the embodiment, the second nozzle extends and passes through the tube wall of the first tube part by the second tube part passing through the tube wall of the first tube part. However, in the present invention, the second nozzle extends and passes through the tube wall of the first tube part by the second nozzle head passing through the tube wall of the first tube part or by the connection between the second tube part and the second nozzle head passing through the tube wall of the first tube part.

[0133] In the embodiment, the first storage device stores the bio-glue, the second storage device stores the cross-linking agent, and the inner diameter of the first tube portion is 1.5 to 3 times the diameter of the liquid outlet of the second nozzle head portion, so that the cross-linking agent sprayed from the second nozzle head portion is in contact with and mixed with the bio-glue of the first tube portion. However, in the present invention, the first storage device can also be used to store the cross-linking agent, and the second storage device can be used to store the bio-glue. At this time, the bio-glue sprayed from the second nozzle head portion is in contact with and mixed with the cross-linking agent of the first tube portion, and in this case, the size of the liquid outlet of the second nozzle head portion and the first tube portion should also be adjusted according to the actual situation (mainly considering the contact area and ratio of the bio-glue and the cross-linking agent).

[0134] In the embodiment, the first pipe part and the second pipe part are connected to the two connecting pipes respectively by threaded connection. However, in the present invention, the above-mentioned detachable connection can also be achieved by plugging, for example, the end of the first pipe part (or the second pipe part) and the end of the connecting pipe are provided with matching sockets. In addition, the first pipe part and the second pipe part can also be connected to the two connecting pipes respectively by fixed connection, but this connection method is not convenient for replacing the nozzle unit.

[0135] In the embodiment, the inner wall of the lower part of the first tube portion has a protrusion, and the protrusion is spiral-shaped, and the mixing of the bio-glue and the cross-linking agent is better achieved through the spiral protrusion. However, in practical applications, the protrusion can also be in other shapes, as long as it can enhance the disordered movement of the bio-glue and the cross-linking agent. For example, the protrusion can also be in the shape of a convex point, that is, a plurality of convex points are distributed on the inner wall of the second nozzle head. The blocking effect generated by the convex points can also increase the turbulence of the fluid of the bio-glue and the cross-linking agent and thus achieve a better mixing effect. In addition, in order to simplify the structure and reduce costs, the inner wall of the lower part of the first tube portion can also be a smooth inner wall (without a protrusion).

[0136] In the embodiment, the first storage device and the second storage device are connected together and fixed on the first support platform or the second support platform. However, in the present invention, the first storage device and the second storage device can also be arranged at other locations, such as on the ground or on a separately arranged fixed frame with a certain height. In addition, the first storage device and the second storage device can also be arranged separately.

[0137] The bracket body is a accommodating bracket body, and has a accommodating through hole extending in the vertical direction. However, in the present invention, the bracket body can also be a clamping bracket body, that is, the bracket body includes two mutually hinged clamping parts to clamp the second cylinder. At the same time, a rubber gasket can also be provided on the clamping bracket body to make the clamping more secure. Compared with the through-hole bracket body, this clamping bracket body 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 nozzle unit, so the operation is simpler and faster, and it is more suitable for acute and temporary in-situ skin printing.

[0138] In the embodiment, the bracket unit includes a bracket body, a connector and a rotating assembly, and the bracket body can rotate relative to the connector under the drive of the rotating drive motor of the rotating assembly, so that the nozzle unit reaches the predetermined position more accurately. However, in the present invention, in order to reduce costs and simplify operation steps, the bracket unit may also only include a bracket body and a connector, and the two are fixedly connected. Such a structure is simpler and more convenient to operate.

[0139] In the first embodiment, the three-axis mobile device realizes the three-degree-of-freedom movement in space through three sets of screw assemblies, and the screw assembly specifically realizes the movement of each degree of freedom through the ball screw pair formed between the screw and the ball bearing. However, in the present invention, the three-axis mobile device can also realize the three-degree-of-freedom movement in space through three sets of guide rail and roller assemblies, and the guide rail and roller assemblies specifically realize the movement of each degree of freedom through the guide rail, the fitting part fitted on the guide rail, the roller arranged between the guide rail and the fitting part, and the motor driving the roller to roll, thereby forming a guide rail and roller structure.

[0140] In the embodiment, a three-axis moving device is used to move the bracket unit with three degrees of freedom in space. However, in the present invention, a mechanical arm moving device can also be used, that is, a plurality of mechanical arms are articulated and driven by a steering gear to achieve a moving device similar to the movement of a human arm to move the bracket unit.

[0141] In the embodiment, the support assembly is two support platforms. However, in the present invention, the support assembly can also be configured in other forms, such as a support frame, a support plate or a plurality of support columns arranged on the ground, or a hanger fixed from above.

[0142] In the embodiment, the print head moving device is pneumatic, that is, the pressurized air provided by the pressure providing device is used as the power, so that the bio-glue in the nozzle 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 nozzle unit itself, and the ideal skin printing effect is achieved. However, in the present invention, the pressure providing device can also adopt the form of mechanical extrusion (for example, a plunger is set in the barrel to control the plunger to extrude the bio-glue). Compared with the form of pressurized air, the pressure control of mechanical extrusion and the control of the basic speed 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.

[0143] In the embodiment, the driving mechanism includes a stepping motor and an electronic handwheel and a signal receiver connected to the stepping motor. However, in the present invention, the driving mechanism may only include the stepping motor and the electronic handwheel, or only include the stepping motor and the signal receiver.

[0144] In the embodiment, the patient is fixed by buckling the buckles at both ends of the fixing belt into the holder on the bottom plate. However, in the present invention, an elastic band can be used to replace the fixing belt and a fixing ring can be used to replace the holder, and the patient can also be fixed by tying the elastic band to the fixing ring.

Claims

1. A skin in situ printing device, used to apply biological glue and cross-linking agent to form artificial skin by printing on a predetermined part of a patient, characterized in that: include: A platform device, used for carrying and rotating the patient; A print head device, used for applying the bio-glue and the cross-linking agent to the predetermined part, comprising a support unit and a nozzle unit arranged on the support unit; A storage device, comprising a first memory and a second memory; A coating power device, used to provide coating power to the storage device; A three-axis moving device, used for driving the print head device to move to the predetermined position; and a control device for controlling the platform device, the print head device, the coating power device and the three-axis moving device, so that the rotation action of the platform device, the coating action of the print head device, the power supply action of the coating power device and the moving action of the three-axis moving device cooperate with each other to coat the bio-glue and the cross-linking agent on the predetermined part of the patient; The spray head unit comprises a first spray pipe and a second spray pipe, wherein the first spray pipe is connected to the first storage device, and the second spray pipe is connected to the second storage device; The first nozzle comprises a first pipe portion and a first nozzle portion, one end of the first pipe portion is connected to the first storage device, and the other end of the first pipe portion is connected to the first nozzle portion; The second nozzle comprises a second pipe portion and a second nozzle portion, one end of the second pipe portion is connected to the second storage device, and the other end of the second pipe portion is connected to the second nozzle portion; The second nozzle extends and passes through the wall of the first tube portion, so that the second nozzle portion is located at the central axis position of the inner cavity of the first tube portion; The coating power device is a pneumatic type or a mechanical extrusion type; The three-axis moving device has a fixing plate for fixing the print head device, and the fixing plate is provided with a plurality of fixing holes; The bracket unit includes a connecting body and a bracket body connected to the connecting body and used to accommodate the nozzle unit; The connecting body has a connecting plate, and a plurality of mounting holes are arranged on the connecting plate, and the mounting holes are used to mount the connecting plate on the fixing holes at different positions by bolts so that the bracket unit can be mounted at different positions of the fixing plate; The bracket body is a containing bracket body or a clamping bracket body; Wherein, the platform 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 support platform, installed in the mounting groove, for supporting the patient, comprising a base plate with a flat upper surface and two triangular plates respectively fixed at both ends of the base plate, and the outer surfaces of the two triangular plates are provided with fixed shafts for fixing in the mounting holes; and a driving mechanism, for driving the support 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 support platform can cooperate with the printing action of the print head device.

2. The skin in-situ printing device according to claim 1, characterized in that: in, The extension direction of the second tube portion is bent toward the first nozzle head portion, so that the liquid outlet of the second nozzle head portion is located on the central axis of the liquid outlet of the first nozzle head portion.

3. The skin in-situ printing device according to claim 1, characterized in that: in, The inner wall of the lower portion of the first tube portion has a convex portion.

4. The skin in-situ printing device according to any one of claims 1 to 3, characterized in that: in, The inner diameter of the first pipe portion is 1.5 to 3 times the diameter of the liquid outlet of the second nozzle portion. The distance between the liquid outlet of the second nozzle head and the liquid outlet of the first nozzle head is 1 to 5 cm.

5. The skin in-situ printing device according to claim 1, characterized in that: in, The driving mechanism includes a stepping motor and a signal receiver electrically connected to the stepping motor. The stepping motor and the signal receiver are both arranged in the vertical portion. The signal receiver is used to receive a driving signal from the control device, so that the stepping motor rotates under the drive of the driving signal.

6. The skin in-situ printing device according to claim 1, characterized in that: in, The three-axis moving device comprises a support assembly and a first screw assembly, a second screw assembly and a third screw assembly arranged on the support assembly. The third lead screw assembly has a third ball bearing portion, and the third ball bearing portion is used to move in a vertical direction so that the print head device moves in the vertical direction. The second lead screw assembly is used to drive the third lead screw assembly to move along a second horizontal direction, so that the print head device moves along the second horizontal direction. The first lead screw assembly is used to drive the second lead screw assembly to move along a first horizontal direction, so that the third lead screw assembly and the print head device move along the first horizontal direction, The first horizontal direction and the second horizontal direction are perpendicular to each other.

7. The skin in situ printing device according to claim 6, Features: Wherein, the first screw assembly is arranged on the support assembly, and comprises a first screw extending along a first horizontal direction, a first ball bearing portion mounted on the first screw by threaded connection, and a first sliding rod arranged parallel to the first screw; A second lead screw assembly comprises a second lead screw extending along the second horizontal direction, a slide groove connected to both ends of the second lead screw, a second ball bearing portion arranged in the slide groove and mounted on the second lead screw by threaded connection, one end of the slide groove is provided with a second fixing portion penetrated by the first slide rod and the other end is fixed to the first ball bearing portion; The third screw assembly comprises a third screw extending along the vertical direction, the third ball bearing portion installed on the third screw by threaded connection, a third sliding rod arranged parallel to the third screw, and a third fixing portion fixedly combined with the second ball bearing portion and fixedly connected to the third screw and two ends of the third sliding rod.

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