Skin in situ printing device

Abstract

The present invention provides a skin in-situ printing device, which is used for applying biological glue and crosslinking agent to a predetermined part of a patient to form artificial skin by printing, and has the following characteristics, including: 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 crosslinking agent to the predetermined part, and has a bracket unit and a nozzle unit arranged on the bracket unit; a coating power device, which is used to provide power for the biological glue and crosslinking agent to be squeezed out of the nozzle unit during coating; 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 above devices to cooperate with each other, wherein the nozzle unit has a first nozzle assembly for accommodating and applying the biological glue and a second nozzle assembly for accommodating and applying the crosslinking agent, the first nozzle assembly includes a first barrel and a first needle, the second nozzle assembly includes a second barrel and a second needle, and the first needle and the second needle are parallel to each other.

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] Therefore, how to achieve the coordination and connection between the bio-glue coating and the cross-linking agent coating becomes the key to successful skin printing, and the existing technology cannot solve this key problem well.

[0006] In addition, it is difficult to accurately control the coating direction with the existing technology, so the printing accuracy is also low.

[0007] 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

[0008] The present invention is made to solve the above-mentioned problems, and its purpose is to provide a skin in-situ printing device.

[0009] The present invention provides a skin in-situ printing device, which is used to apply biological glue and crosslinking 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 crosslinking agent to the predetermined part, and has a support unit and a nozzle unit arranged on the support unit and used to accommodate and apply the biological glue and the crosslinking agent; a coating power device, which is used to provide the print head device with power to squeeze the biological glue and the crosslinking agent out of the nozzle unit when applying the biological glue and the crosslinking agent; 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 , a print head device, a coating power device and a three-axis moving device, so that the rotation action of the platform device, 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 bio-glue and the cross-linking agent on the predetermined part of the patient, wherein the nozzle unit has a first nozzle assembly for accommodating and coating the bio-glue and a second nozzle assembly for accommodating and coating the cross-linking agent, the first nozzle assembly includes a first cylinder for accommodating the bio-glue and a first needle for coating the bio-glue, the second nozzle assembly includes a second cylinder for accommodating the cross-linking agent and a second needle for coating the cross-linking agent, and the first needle and the second needle are parallel to each other.

[0010] In the skin in situ printing device provided by the present invention, it can also have the following characteristics: wherein, the coating power device is a power providing device, which is used to provide pressurized air to the first cylinder and the second cylinder so as to extrude the biological glue in the first cylinder from the first needle and the cross-linking agent in the second cylinder from the second needle, and the nozzle unit also includes a cylinder cover for sealing the first cylinder and the second cylinder, and the cylinder cover is provided with an air inlet, which is connected to the inner cavity of the first cylinder and the inner cavity of the second cylinder at the same time, and is used to introduce pressurized air serving as coating power into the inner cavity of the first cylinder and the inner cavity of the second cylinder.

[0011] 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.

[0012] The skin in situ printing device provided by the present invention may also have the following feature: wherein the inner diameter of the first needle is greater than the inner diameter of the second needle.

[0013] The skin in situ printing device provided by the present invention may also have the following feature: wherein the liquid outlet of the first needle is lower than the liquid outlet of the second needle.

[0014] The skin in-situ printing device provided by the present invention may also have the following feature: wherein the distance between the first needle and the second needle is 1 mm to 10 mm.

[0015] 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.

[0016] 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.

[0017] 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.

[0018] 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.

[0019] Functions and Effects of the Invention

[0020] According to the skin in-situ printing device involved in the present invention, because it has a platform 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 assembly and a second nozzle assembly, the first nozzle assembly includes a first barrel and a first needle, the second nozzle assembly includes a second barrel and a second needle, the first needle and the second needle are parallel to each other, and the first barrel and the second barrel are integrally formed, so when coating, the biological glue can be coated through the first nozzle assembly, and the cross-linking agent can be coated through the second nozzle assembly, and the first needle and the second needle are parallel to each other so that the angle between the second needle and the predetermined part of the skin is always consistent with the angle between the first needle and the predetermined part of the skin, thereby making it easier to mix the biological glue droplets squeezed out of the first needle and the cross-linking agent droplets squeezed out of the second needle.

[0021] Therefore, during coating, it is only necessary to move the entire print head device in the set coating direction. Then, in the coating direction, a coating state will be formed in which the first needle coats in front and the second needle coats later, so that the cross-linking agent can be mixed with the bio-glue at the damaged part at a constant time interval and then solidify quickly to finally obtain an artificial skin with an adapted shape and structure, achieving a good coating effect.

[0022] In addition, the coating power device can extrude the bio-glue and the cross-linking agent from the nozzle unit to achieve 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 to facilitate adjusting the coating speed.

[0023] 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.

[0024] 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

[0025] Figure 1 is a schematic structural diagram of a skin in-situ printing device in Embodiment 1 of the present invention;

[0026] Figure 2 is a schematic structural diagram of a print head device in Embodiment 1 of the present invention;

[0027] Figure 3is a schematic structural diagram of a nozzle unit in Embodiment 1 of the present invention;

[0028] Figure 4 is a partially enlarged schematic diagram of a nozzle unit in the first embodiment of the present invention;

[0029] Figure 5 is a schematic structural diagram of a platform device in Embodiment 1 of the present invention;

[0030] Figure 6 is a schematic structural diagram of a carrier platform in Embodiment 1 of the present invention;

[0031] Figure 7 is a schematic diagram of the structure of the skin in-situ printing device in the second embodiment of the present invention; and

[0032] Figure 8 It is a schematic diagram of the structure of the nozzle unit in the second 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 1>

[0035] Figure 1 Schematic diagram of the structure of the skin in-situ printing device in an embodiment of the present invention.

[0036] like Figure 1 As shown, the skin in-situ printing device 100 includes a three-axis moving device 10, 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] The print head device 20 is used to apply the bio-glue to 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 patient's damaged skin 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 apply the bio-glue to the predetermined part of the patient.

[0038] like Figure 1As 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., a first drive motor, a second drive motor, and a third drive motor, all not shown in the figure).

[0039] The support mechanism 14 includes a first support platform 141 and a second support platform 142. The first support platform 141 extends along a first horizontal direction. The second support platform 142 is arranged parallel to the first support platform 141.

[0040] 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.

[0041] The first fixing part 111 is in a "C" shape and is arranged on the top of the first support platform 141. Convex rails extending along the first horizontal direction are arranged on both sides of the first fixing part 111.

[0042] 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.

[0043] The first ball bearing part 113 is sleeved on the first lead screw 112. The inner housing of the first ball bearing part 113 is installed on the first lead screw 112 through threaded engagement, so that the first ball bearing part 113 and the first lead screw 112 form a ball screw pair structure. A groove matching the convex rail of the first fixing part 111 is arranged on the outer housing of the first ball bearing part 113.

[0044] In this embodiment, a first drive motor is arranged at one end of the first fixing part 111, and the output end of the first drive motor is connected to one end of the first lead screw 112. When the first drive motor outputs driving force, the first lead screw 111 rotates under the drive of the first drive motor.

[0045] 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.

[0046] The second lead screw assembly 12 includes a chute 121, a second lead screw 122, and a second ball bearing part 123.

[0047] The extending direction of the chute 121 is perpendicular to the first horizontal direction (hereinafter referred to as the second horizontal direction). A second fixing part 124 is arranged at one end of the chute 121. A hole part with an inner diameter adapted to the first slide bar 114 is arranged on the second fixing part 124. The first slide bar 114 passes through the hole part so that the second fixing part 124 is sleeved on the first slide bar 114. The other end of the chute 121 is fixed to the outer housing of the first ball bearing part 113.

[0048] Therefore, when the first driving motor drives the first lead screw 112 to rotate, the degree of freedom of movement of the sliding groove 121 is restricted by the first slide bar 114, so that it moves integrally 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 portion 113.

[0049] The second lead screw 122 extends along the second horizontal direction, and its two ends are respectively fixedly connected to the two end portions of the sliding groove 121 through rotary bearings.

[0050] The structure of the second ball bearing portion 123 is similar to that of the first roller bearing portion 113, and it also has an inner housing and an outer housing that can rotate relative to each other. The second ball bearing portion 123 is arranged in the sliding groove 121 and its inner housing is sleeved on the second lead screw 121 through a threaded coupling, so that the second ball bearing portion 123 and the second lead screw 122 form a ball screw pair structure. The outer housing of the second ball bearing portion 123 is in a protruding shape, so that it is fitted with the sliding groove 121.

[0051] In this embodiment, the second driving motor is arranged at the end portion 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, and then drive the inner housing of the second ball bearing portion 122 to rotate.

[0052] 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 slide bar 134, and a fixing plate 135.

[0053] The third fixing portion 131 is in a "C" shape and is arranged vertically, 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 degree of freedom of movement 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.

[0054] The third lead screw 132 extends vertically, and its two ends are installed on the third fixing portion 131 through rolling bearings.

[0055] 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.

[0056] The third slide bar 134 is disposed on both sides of the third fixing portion 131. In this embodiment, a groove body matching the shape of the third slide bar 134 is further disposed on the side of the outer shell of the third ball bearing portion 133 facing the third fixing portion 131.

[0057] The fixing plate 135 is disposed on the side of the outer shell of the third ball bearing portion 133 away from the third fixing portion 131, and is used to fix the print head device 20. The fixing plate 135 is provided with a plurality of fixing holes, and the heights of the fixing holes are different.

[0058] In this embodiment, the third drive motor is disposed in the third fixed portion 131, and its output end is connected to one end of the third lead screw 132. When the third fixed portion 131 moves as a whole along the second horizontal direction driven by the second drive motor, the second lead screw 122, the second ball bearing portion 123, etc., the third lead screw 132 can also rotate itself under the drive of the third drive motor to drive the third ball bearing portion 133 to move along the vertical direction.

[0059] 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.

[0060] like Figure 2 As shown, the print head device 20 includes a support unit 21 and a nozzle unit 22 .

[0061] The bracket unit 21 includes a bracket body 211 , a connecting body 212 and a rotating assembly (not shown in the figure).

[0062] 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.

[0063] The connecting body 212 includes a transverse plate 2121 and a connecting plate 2122 .

[0064] 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.

[0065] 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.

[0066] Figure 3 It is a schematic structural diagram of the nozzle unit in the first embodiment of the present invention.

[0067] Figure 4 It is a partially enlarged schematic diagram of the nozzle unit in the first embodiment of the present invention.

[0068] like Figure 3 , 4 As shown, the spray head unit 22 includes a first spray head assembly 221 , a second spray head assembly 222 and a barrel cover 223 .

[0069] The first nozzle assembly 221 is used for containing and applying biological glue, and includes a first barrel 2211 and a first needle 2212 .

[0070] The first barrel 2211 may be in various shapes, such as semi-cylindrical, cylindrical, cuboid, etc. In the present embodiment, the first barrel 2211 is semi-cylindrical with a semicircular cross section, and is used to contain bio-glue or bio-glue components.

[0071] The first needle 2212 is disposed at the center of the lower end of the first barrel 2211. The first needle 2212 is connected to the inner cavity of the first barrel 2211, so the bio-glue or bio-glue components contained in the inner cavity of the first barrel 2211 can be squeezed out through the first needle 2212. In order to make the extrusion of the bio-glue smoother, the first needle 2212 is arranged to extend in the vertical direction.

[0072] The second spray head assembly 222 is used to contain and apply the cross-linking agent, and includes a second barrel 2221 and a second needle 2222 .

[0073] The second barrel 2221 can be various shapes such as semi-cylindrical, cylindrical, cuboid. In the present embodiment, the second barrel 2221 is semi-cylindrical, and the cross section is semicircular, for accommodating cross-linking agent. In the present embodiment, the second barrel 2221 and the first barrel 2211 are connected together, and two semi-cylindrical barrels are connected into a cylindrical structure, and the outer diameter of the cylindrical structure is adapted to the inner diameter of the accommodating through hole, so it can be placed in the accommodating through hole and tightly stuck in the accommodating through hole due to the effect of the rubber gasket, so that the first barrel 2211 and the second barrel 2221 are not easy to slip off when the accommodating through hole rotates. One-piece molding or fixed connection or detachable connection (for example, a clamping piece is respectively arranged on the outer wall of the second barrel 2221 and the first barrel 2211, and the second barrel 2221 and the first barrel 2211 are connected by the clamping between the clamping piece).

[0074] The second needle 2222 is disposed at the center of the lower end of the second cylinder 2221. The second needle 2222 is connected to the inner cavity of the second cylinder 2221, so the cross-linking agent contained in the inner cavity of the second cylinder 2221 can be extruded through the second needle 2222. In order to make the extrusion of the cross-linking agent smoother and to better cooperate with the coating of the biological glue, the second needle 2222 is also arranged to extend in the vertical direction.

[0075] In this embodiment, in order to ensure that the first needle 2212 and the second needle 2222 always remain parallel during use, the first needle 2212 and the second needle 2222 can also be fixedly connected by a connecting piece (not shown in the figure). For example, the first needle 2212 and the second needle 2222 are connected by two long strip connecting pieces respectively arranged on the outer walls of the first needle 2212 and the second needle 2222, so that no matter what kind of rotation or accidental collision occurs, the first needle 2212 and the second needle 2222 can always be parallel and the distance between them remains unchanged.

[0076] In this embodiment, the distance between the first needle 2212 and the second needle 2222 is 1 mm to 10 mm. The liquid outlet of the first needle 2212 is 0.05 mm to 0.15 mm lower than the liquid outlet of the second needle 2222. The inner diameter of the first needle 2212 is greater than the inner diameter of the second needle 2222.

[0077] The number of the cylinder cover 223 is one. The shape and size of the cylinder cover 223 match the shape and size of the outer surface of the first cylinder 2211 and the second cylinder 2221. In the present embodiment, the cylinder cover 223 is a circular cylinder cover, which is installed on the upper ends of the first cylinder 2211 and the second cylinder 2221 in a threaded connection (or sleeve connection) mode, thereby sealing the first cylinder 2211 and the second cylinder 2221. The cylinder cover 223 is provided with an air inlet 2231, which is communicated with the inner cavity of the first cylinder 2211 and the inner cavity of the second cylinder 2221 at the same time. In order to improve the sealing performance, the inner side of the cylinder cover 223 is also provided with a sealing pad (not shown in the figure).

[0078] In this embodiment, the coating power device is a power supply 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).

[0079] The gas storage device is used to provide pressurized air, and the gas storage device may 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 device, and is used to adjust the flow rate of the pressurized air provided by the gas storage device so as to adjust the pressure; the air filter is connected to the pressure regulator and the air inlet 2231 through a conduit, and is used to filter the pressurized air after the pressure is adjusted and to deliver the filtered pressurized air to the first cylinder 2211 and the second cylinder 2221 through the air inlet 2231. A closing clip is provided on the air inlet 2231, and is used to close the air inlet 2231 when the nozzle unit 22 does not need pressurized air.

[0080] Figure 5 It is a schematic diagram of the structure of the platform device in the first embodiment of the present invention.

[0081] like Figure 5 As 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.

[0082] 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.

[0083] 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 .

[0084] 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.

[0085] Figure 6 It is a schematic diagram of the structure of the carrier platform in an embodiment of the present invention.

[0086] like Figure 6 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.

[0087] 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.

[0088] 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.

[0089] A block 324 protruding outward is disposed directly below the fixed shaft 323 .

[0090] 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 .

[0091] 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).

[0092] 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.

[0093] 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.

[0094] 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.

[0095] 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°.

[0096] 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.

[0097] The fixing assembly 35 includes a fixing belt 351 , a buckle 352 and an adjusting buckle 353 .

[0098] 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.

[0099] 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.

[0100] 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.

[0101] Two ends of the adjustment groove 36 are respectively provided with a positioning hole.

[0102] 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.

[0103] 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.

[0104] The working principle of the skin in-situ printing device of this embodiment is described below with reference to the accompanying drawings.

[0105] Before skin printing, medical personnel can place the bio-glue solution and the cross-linking agent into the first cylinder 2211 and the second cylinder 2221 respectively in a sterile environment, and then cover the cylinder cover 223, connect the air filter and adjust the pressure regulator to close, so that the pressurized air cannot enter the first cylinder 2211 and the second cylinder 2221. Then, let the patient lie flat on the bearing platform 32 of the platform device 30 and fix the patient on the bearing 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 bearing platform is rotated to a predetermined angle so that the skin injury part of the patient is in a predetermined position.

[0106] 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.

[0107] After reaching the predetermined position, the rotating assembly can be controlled to allow the first needle 2212 of the first nozzle assembly 221 filled with the biological glue solution and the second needle 2222 of the second nozzle assembly 222 filled with the crosslinking agent to approach the defective position, and at the same time, the pressure regulator is opened and adjusted to allow the pressure air to enter the first barrel 2211 and the second barrel 2212 at a predetermined pressure, so that the biological glue solution in the first barrel 2211 and the crosslinking agent in the second barrel 2212 are squeezed out at the same time due to the pressure, and are respectively coated on the predetermined position through the corresponding first needle 2212 and the second needle 2222, and 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 according to 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. In this coating process, since the second needle "completely follows" the first needle 2212 for coating, the crosslinking agent is actually coated on the biological glue solution.

[0108] 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.

[0109] Functions and Effects of Embodiment 1

[0110] According to the skin in situ printing device involved in this embodiment, because it has a platform 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 assembly and a second nozzle assembly, the first nozzle assembly includes a first barrel and a first needle, the second nozzle assembly includes a second barrel and a second needle, the first needle and the second needle are parallel to each other, and the first barrel and the second barrel are integrally formed, so when coating, the biological glue can be applied through the first nozzle assembly, and the cross-linking agent can be applied through the second nozzle assembly, and the first needle and the second needle are parallel to each other so that the angle between the second needle and the predetermined part of the skin is always consistent with the angle between the first needle and the predetermined part of the skin, thereby making it easier to mix the biological glue droplets squeezed out of the first needle and the cross-linking agent droplets squeezed out of the second needle.

[0111] Therefore, during coating, it is only necessary to move the entire print head device in the set coating direction. Then, in the coating direction, a coating state will be formed in which the first needle coats in front and the second needle coats later, so that the cross-linking agent can be mixed with the bio-glue at the damaged part at a constant time interval and then solidify quickly to finally obtain an artificial skin with an adapted shape and structure, achieving a good coating effect.

[0112] In addition, the coating power device can extrude the bio-glue and the cross-linking agent from the nozzle unit to achieve 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 to facilitate adjusting the coating speed.

[0113] 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.

[0114] 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.

[0115] In the first embodiment, a cylinder cover is used to seal the first cylinder and the second cylinder, and the air inlet on the cylinder cover is connected to the inner cavity of the first cylinder and the inner cavity of the second cylinder at the same time, so that during coating, the compressed air used as the coating power can be introduced into the first cylinder and the second cylinder at the same time, so that the bio-glue in the first cylinder and the cross-linking agent in the second cylinder can be squeezed out at the same time. When it is necessary to adjust the extrusion speed of the bio-glue or the cross-linking agent, it is only necessary to adjust the incoming air pressure to complete the speed adjustment at the same time, so the speed control during coating can be synchronized and more accurate.

[0116] In Example 1, the inner diameter of the first needle is larger than the inner diameter of the second needle. This design makes it possible for the volume and surface area of ​​the bio-glue squeezed out of the first needle to be larger than the volume and surface area of ​​the cross-linking agent squeezed out of the second needle under the push of compressed air of the same size. On the one hand, the cross-linking agent droplets can contact and diffuse with the bio-glue droplets of a larger area to achieve a good mixing effect. On the other hand, the cross-linking agent can be mixed with the bio-glue in an appropriate proportion (for example, the volume of the cross-linking agent should be smaller than the volume of the bio-glue to prevent a low colloid content and affect the gelling properties).

[0117] In the first embodiment, the liquid outlet of the first needle is lower than the liquid outlet of the second needle. On the one hand, the cross-linking agent droplets squeezed out from the second needle can drip onto the surface of the pre-dripping bio-glue droplets, allowing the cross-linking agent droplets to diffuse into the bio-glue droplets with the largest contact area to achieve a better mixing effect; on the other hand, during coating, the liquid outlet of the second needle is prevented from coming into direct contact with the bio-glue, causing the bio-glue to solidify and block the liquid outlet of the second needle.

[0118] In Example 1, the distance between the first needle and the second needle is 1 mm to 10 mm. This design enables the bio-glue squeezed out from the first needle and the cross-linking agent squeezed out from the second needle to cooperate well with each other to coat a printed skin with a suitable shape.

[0119] In embodiment 1, the connector has a connecting plate on which a plurality of mounting holes are arranged. Therefore, the connecting plate can be mounted on the fixing holes at different positions of the 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 on the fixing plate.

[0120] In the first embodiment, the platform device includes a base, a support platform and a driving mechanism, so during the printing process, the patient can lie on the support platform and the support platform rotates a certain angle under the drive of the driving mechanism to reach a predetermined position, and then cooperate with the print head device.

[0121] In the first embodiment, the driving mechanism includes a stepping motor and a signal receiver. Therefore, the control device can send a driving signal to the signal receiver to make the stepping motor drive the supporting platform to rotate, and the control method is simple.

[0122] The three-axis moving device in the first embodiment has three sets of screw assemblies, which can respectively provide three degrees of freedom of movement in three directions, thereby enabling the print head device to achieve three degrees of freedom movement in space, allowing the print head device as a whole to reach different predetermined printing locations.

[0123] The coating power device in Example 1 is a pressure providing device, so that the biological glue and cross-linking agent in the nozzle unit can be squeezed out under the pressure of 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, making the coating process of the biological 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.

[0124] The above-mentioned embodiments are preferred examples of the present invention and are not intended to limit the protection scope of the present invention.

[0125] For example, in the first embodiment, the first needle is arranged at the center of the lower end of the first cylinder, and the second needle is arranged at the center of the lower end of the second cylinder. However, in the present invention, the first needle can also be arranged at a non-center position at the lower end of the first cylinder, and the second needle can also be arranged at a non-center position at the lower end of the second cylinder, as long as the distance between the first needle and the second needle meets the actual coating requirements.

[0126] In the first embodiment, the bracket body is a receiving bracket body, and has a receiving 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 first cylinder and 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.

[0127] In the first embodiment, the bracket unit includes a bracket body, a connector and a rotating assembly. 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 can reach the predetermined position more accurately. However, in the present invention, in order to reduce costs and simplify the operation steps, the bracket unit can 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.

[0128] 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.

[0129] In the first 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 hinged and driven by a steering gear to achieve a moving device similar to the movement of a human arm to move the bracket unit.

[0130] In the first 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.

[0131] In the first 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 include only the stepping motor and the electronic handwheel, or only the stepping motor and the signal receiver.

[0132] In the first 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.

[0133] In the first embodiment, the print head moving device uses the pressurized air provided by the pressure providing device 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 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.

[0134] <Example 2>

[0135] Figure 7 It is a schematic diagram of the structure of the skin in-situ printing device in the second embodiment of the present invention.

[0136] like Figure 7 As shown, the skin in situ printing device 200 in this embodiment includes a three-axis moving device (not shown in the figure), a print head device 201, a coating power device (not shown in the figure), a platform device (not shown in the figure) and a control device (not shown in the figure).

[0137] Among them, the structures of the three-axis moving device, coating power device, platform device and control device in this embodiment are exactly the same as those of the three-axis moving device, coating power device, platform device and control device in the first embodiment.

[0138] The print head device 201 in this embodiment includes a support unit 202 and a nozzle unit 203 .

[0139] The structure of the bracket unit 202 is completely the same as that of the bracket unit 21 in the first embodiment. That is, the difference between the print head device 201 in this embodiment and the print head device 20 in the first embodiment lies in the different structure of the nozzle unit.

[0140] The nozzle unit 203 in this embodiment is described in detail below.

[0141] Figure 8 It is a schematic diagram of the structure of the nozzle unit in the second embodiment of the present invention.

[0142] like Figure 8 As shown, the spray head unit 203 includes a first spray head assembly 204 and a second spray head assembly 205 .

[0143] The first nozzle assembly 204 is used to contain and apply biological glue, and includes a first barrel 204a, a first needle 204b and a first barrel cover 204c.

[0144] The first barrel 204a may be in various shapes, such as semi-cylindrical, cylindrical, cuboid, etc. In this embodiment, the first barrel 204a is semi-cylindrical with a semicircular cross section, and is used to contain bio-glue or bio-glue components.

[0145] The first needle 204b is arranged at the center of the lower end of the first barrel 204a. The first needle 204b is connected to the inner cavity of the first barrel 204a, so the bio-glue or bio-glue component contained in the inner cavity of the first barrel 204a can be squeezed out through the first needle 204b. In order to make the extrusion of the bio-glue smoother, the first needle 204b is arranged to extend in the vertical direction.

[0146] The first cylinder cover 204c is installed on the upper end of the first cylinder body 204a, and is used for sealing the first cylinder body 204a. The first cylinder cover 204c is provided with the first air inlet 204d, and the compressed air as the coating power can be passed into the inner cavity of the first cylinder body 204a by the first air inlet 204d. In order to improve the sealing performance, the inboard of the first cylinder cover 204c is also provided with a sealing pad (not shown). The first air inlet 204d is provided with a closing clip, and is used for sealing the first air inlet 204d when the first spray head assembly 204 does not need pressurized air.

[0147] The second spray head assembly 205 is used to contain and apply the cross-linking agent, and includes a second cylinder 205a, a second needle 205b and a second cylinder cover 205c.

[0148] The second barrel 205a can be various shapes such as semi-cylindrical, cylindrical, cuboid. In the present embodiment, the first barrel second barrel 205a is semi-cylindrical, and the cross section is semicircular, for accommodating a cross-linking agent. In the present embodiment, the second barrel 205a and the first barrel 204a are connected together, and the second barrel 205a and the first barrel 204a are axially symmetrically distributed. The cross section of the main body after the second barrel 205a and the first barrel 204a are connected together is circular, and the outer diameter of this circle is adapted to the internal diameter of the accommodating through hole, so the second barrel 205a and the first barrel 204a can be placed in the accommodating through hole of the support body and are tightly stuck in the accommodating through hole because of the effect of the rubber gasket. One-piece molding or fixed connection or detachable connection (for example, snap connection) between the second barrel 205a and the first barrel 204a.

[0149] The second needle 205b is arranged at the center of the lower end of the second barrel 205a. The second needle 205b is connected to the inner cavity of the second barrel 205a, so the crosslinking agent contained in the inner cavity of the second barrel 205a can be squeezed out through the second needle 205b. In order to make the extrusion of the crosslinking agent smoother and to better cooperate with the coating of the bio-glue, the second needle 205b is also arranged to extend in the vertical direction.

[0150] In this embodiment, in order to ensure that the first needle 204b and the second needle 205b always remain parallel during use, the first needle 204b and the second needle 205b can also be fixedly connected by a connecting piece (not shown in the figure).

[0151] In this embodiment, the distance between the first needle 204b and the second needle 205b is 1 mm to 10 mm. The liquid outlet of the first needle 204b is 0.05 mm to 0.15 mm lower than the liquid outlet of the second needle 205b. The inner diameter of the first needle 204b is greater than the inner diameter of the second needle 205b.

[0152] The second cylinder cover 205c is installed on the upper end of the second cylinder body 205a, and is used for sealing the second cylinder body 205a. The second cylinder cover 205c is provided with the second air inlet 205d, and the compressed air as the coating power can be passed into the inner cavity of the second cylinder body 205a by this second air inlet 205d. In order to improve the sealing performance, the inboard of the second cylinder cover 205c is also provided with a sealing pad (not shown). The second air inlet 205d is provided with a closing clip, and is used for the second air inlet 205d to be closed when the second spray head assembly 205 does not need pressurized air.

[0153] In this embodiment, the first air inlet 204d and the second air inlet 205d are connected to the conduit of the power supply device through a three-way pipe, and then the connecting pipe is connected to the power supply device, so that the filtered pressurized air provided by the power supply device is respectively passed into the first cylinder 204a and the second cylinder 205a through the connecting pipe, thereby simultaneously extruding the bioglue and the cross-linking agent.

[0154] Functions and Effects of Embodiment 2

[0155] According to the skin in situ printing device involved in this embodiment, because it has a platform 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 assembly and a second nozzle assembly, the first nozzle assembly includes a first barrel and a first needle, the second nozzle assembly includes a second barrel and a second needle, the first needle and the second needle are parallel to each other, and the first barrel and the second barrel are integrally formed, so when coating, the biological glue can be applied through the first nozzle assembly, and the cross-linking agent can be applied through the second nozzle assembly, and the first needle and the second needle are parallel to each other so that the angle between the second needle and the predetermined part of the skin is always consistent with the angle between the first needle and the predetermined part of the skin, thereby making it easier to mix the biological glue droplets squeezed out of the first needle and the cross-linking agent droplets squeezed out of the second needle.

[0156] Therefore, during coating, it is only necessary to move the entire print head device in the set coating direction. Then, in the coating direction, a coating state will be formed in which the first needle coats in front and the second needle coats later, so that the cross-linking agent can be mixed with the bio-glue at the damaged part at a constant time interval and then solidify quickly to finally obtain an artificial skin with an adapted shape and structure, achieving a good coating effect.

[0157] In the second embodiment, two cylinder covers are used to seal the first cylinder and the second cylinder respectively, and an air inlet is provided on each of the two cylinder covers, and the two air inlets are connected to the conduit through a three-way pipe, so that during coating, the compressed air used as the coating power can be introduced into the first cylinder and the second cylinder respectively through the connecting pipe, so that the bio-glue in the first cylinder and the cross-linking agent in the second cylinder can be extruded at the same time. In addition, compressed air of different pressures can also be introduced into the first cylinder and the second cylinder through different connecting pipes, so as to control the extrusion and coating actions of the bio-glue in the first cylinder and the cross-linking agent in the second cylinder respectively.

[0158] In Example 2, the liquid outlet of the first needle is lower than the liquid outlet of the second needle, the distance between the first needle and the second needle is 1mm to 10mm, the inner diameter of the first needle is larger than the inner diameter of the second needle, the cross-sections of the first cylinder and the second cylinder are both semicircular, and the first cylinder and the second cylinder are integrally formed. These technical features are the same as those in Example 1, and therefore the effects are also the same.

[0159] The above-mentioned embodiments are preferred examples of the present invention and are not intended to limit the protection scope of the present invention.

[0160] For example, in the second embodiment, the first barrel and the second barrel are connected together. However, in the present invention, the first barrel and the second barrel can also be separately provided. In this case, if the bracket body is a receiving bracket body, it has two receiving through holes to receive the first barrel and the second barrel respectively; if the bracket body is a clamping bracket body, two clamping bracket bodies are provided to clamp the first barrel and the second barrel respectively.

[0161] In the second embodiment, the first needle is arranged at the center of the lower end of the first cylinder, and the second needle is arranged at the center of the lower end of the second cylinder. However, in the present invention, the first needle can also be arranged at a non-center position at the lower end of the first cylinder, and the second needle can also be arranged at a non-center position at the lower end of the second cylinder, as long as the distance between the first needle and the second needle meets the actual coating requirements.

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 and used for accommodating and applying the bio-glue and the cross-linking agent; A coating power device, used for providing 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 three-axis moving device, used for driving the print head device to move to the predetermined position; and a control device, used 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 movement action of the three-axis moving device cooperate with each other to coat the bio-glue and the cross-linking agent on the predetermined position of the patient; The spray head unit comprises a first spray head assembly for containing and applying the bio-glue and a second spray head assembly for containing and applying the cross-linking agent; The first nozzle assembly comprises a first barrel for containing the bio-glue and a first needle for applying the bio-glue; The second spray head assembly includes a second barrel for containing the cross-linking agent and a second needle for applying the cross-linking agent; The first needle and the second needle are parallel to each other; The liquid outlet of the first needle is lower than the liquid outlet of the second needle; The distance between the first needle and the second needle is 1 mm to 10 mm; 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 coating power device is a power supply device, which is used to provide pressurized air to the first cylinder and the second cylinder so as to extrude the bio-glue in the first cylinder from the first needle and extrude the cross-linking agent in the second cylinder from the second needle. The spray head unit further includes a cylinder cover for sealing the first cylinder and the second cylinder. The cylinder cover is provided with an air inlet which is connected with the inner cavity of the first cylinder and the inner cavity of the second cylinder at the same time, and is used for introducing the pressurized air serving as the coating power into the inner cavity of the first cylinder and the inner cavity of the second cylinder.

3. The skin in-situ printing device according to claim 1, characterized in that: in, 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. The mounting holes are used to mount the connecting plate on the fixing holes at different positions by bolts so that the bracket unit is mounted at different positions of the fixing plate. The bracket body is a containing bracket body or a clamping bracket body.

4. The skin in-situ printing device according to claim 2, characterized in that: in, The inner diameter of the first needle is greater than the inner diameter of the second needle.

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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