Skin in situ printing device

Abstract

The present invention provides a skin in-situ printing device, which is used to apply biological glue that forms artificial skin by printing to a predetermined part of a patient, and has the following characteristics: a platform device, which is used to carry and move the patient; a print head device, which is used to apply the biological glue to the predetermined part, and has a bracket unit and a plurality of nozzle units arranged on the bracket unit; a coating power device, which is used to provide the print head device with power to extrude the biological glue 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 for the above-mentioned devices, wherein the bracket unit is installed on the three-axis moving device, and has a bracket body and a connecting body connected to the bracket body, the bracket body has a plurality of accommodating through holes, and the nozzle unit is used to accommodate and apply the biological glue, and includes a barrel for accommodating the biological glue, a needle for applying the biological glue, and a barrel cover arranged on the barrel for sealing the barrel.

Description

Technical Field

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

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

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

[0004] In order to overcome the above-mentioned defects of artificial skin, the concept of printed skin has been developed in the prior art. That is, biopolymer materials are directly applied to the damaged part to form an artificial skin with adaptive shape. However, this formation method is very slow, and it is difficult to accurately control the coating direction, so the printing accuracy is also very low. In addition, if the area of ​​the damaged part is relatively large, the area of ​​printed skin required is also relatively large, and the existing coating method cannot meet the accuracy and speed requirements of large-area coating.

[0005] 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

[0006] The present invention is made to solve the above-mentioned problems, and its purpose is to provide a skin in-situ printing device.

[0007] The present invention provides a skin in-situ printing device, which is used to apply biological glue for forming artificial skin by printing on a predetermined part of a patient, and has the following characteristics: a platform device, which is used to carry and move the patient; a print head device, which is used to apply the biological glue on the predetermined part, and has a support unit and a plurality of nozzle units arranged on the support unit and used to accommodate and apply the biological glue; a coating power device, which is used to provide the print head device with power to squeeze the biological glue out of the nozzle unit when applying the biological glue; 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 to move the print head device to the predetermined part. The platform device, the print head device, the coating power device and the three-axis moving device make the rotating 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 on the predetermined part of the patient, wherein the bracket unit is installed on the three-axis moving device, has a bracket body and a connector connected to the bracket body, the bracket body has a plurality of accommodating through holes, and the nozzle unit is used to accommodate and coat the bio-glue, including a cylinder for accommodating the bio-glue, a needle for coating the bio-glue and a cylinder cover arranged on the cylinder for sealing the cylinder.

[0008] The skin in situ printing device provided by the present invention may also have the following features: wherein the bracket unit also includes a rotating assembly, which has a rotating drive motor, which is arranged on the connecting body and has an output shaft connected to the bracket body, for driving the bracket body to rotate relative to the connecting body.

[0009] 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.

[0010] 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.

[0011] In the skin in situ printing device provided by the present invention, it can also have the following features: wherein, the platform device also includes: a pair of socket parts, each socket part includes at least one socket, and the socket is arranged on one side of the base plate; and a fixing component, comprising a fixing belt, buckles arranged at both ends of the fixing belt and matching the socket, and an adjustment buckle arranged in the middle position of the fixing belt, and the adjustment buckle is used to adjust the length of the fixing belt.

[0012] 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.

[0013] 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.

[0014] The skin in situ printing device provided by the present invention may also have the following features: wherein the three-axis moving device also has a first motor for driving the first lead screw to rotate, a second motor for driving the second lead screw to rotate, and a third motor for driving the third lead screw to rotate.

[0015] In the skin in situ printing device provided by the present invention, it can also have the following characteristics: wherein, a fixing plate for fixing the print head device is provided on the third ball bearing part, and a plurality of fixing holes are provided on the fixing plate; the connector has a connecting plate, and a plurality of mounting holes are provided on the connecting plate; the mounting holes are used to install the connecting plate on the fixing holes at different positions by means of bolts so that the print head device can be installed at different positions of the fixing plate.

[0016] The skin in-situ printing mechanism provided by the present invention may also have the following features: wherein the coating power device is a pressure providing device, which is powered by pressurized air and has a gas storage device for providing pressurized air, a pressure regulator for adjusting the pressure of the pressurized air, and an air filter for filtering the pressurized air.

[0017] Functions and Effects of the Invention

[0018] 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 bracket unit and a plurality of nozzle units, and the bracket body has a plurality of accommodating through holes, so the plurality of nozzle units can be installed in the accommodating through holes and then installed on the bracket body. On the one hand, the plurality of nozzle units can be enabled to simultaneously apply the bio-glue, which greatly speeds up the coating speed, and is particularly suitable for situations where the area of ​​the damaged part of the human body is relatively large; on the other hand, the plurality of nozzle units can also contain different bio-glue solutions or different components of the bio-glue solutions, thereby enabling the sequential coating of different bio-glue solutions or different components of the bio-glue solutions.

[0019] In addition, the coating power device can extrude the bio-glue from the barrel of the nozzle unit through the needle to achieve the coating of the bio-glue. The coating power device can adjust the extrusion speed of the bio-glue and thus facilitate the adjustment of the coating speed.

[0020] 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.

[0021] 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

[0022] Figure 1 is a schematic structural diagram of a skin in-situ printing device in an embodiment of the present invention;

[0023] Figure 2 is a schematic structural diagram of a print head device in an embodiment of the present invention;

[0024] Figure 3 is a schematic structural diagram of a connector in an embodiment of the present invention;

[0025] Figure 4 is a schematic structural diagram of a nozzle unit in an embodiment of the present invention;

[0026] Figure 5 is a schematic diagram of the structure of the platform device in an embodiment of the present invention; and

[0027] Figure 6 It is a schematic diagram of the structure of the carrier platform in an embodiment of the present invention. DETAILED DESCRIPTION

[0028] In order to make the technical means, creative features, achieved purposes and effects realized by the present invention easy to understand, the following embodiments will specifically describe the in-situ skin printing device of the present invention in conjunction with the accompanying drawings.

[0029] Figure 1 It is a schematic structural diagram of the in-situ skin printing device in the embodiments of the present invention.

[0030] As Figure 1 shown, the in-situ skin printing device 100 includes a three-axis moving device 10, a printing 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).

[0031] Among them, the printing head device 20 is used to coat the biological glue at a predetermined position, and the three-axis moving device 10 is used to drive the printing head device 20 so that the printing head device 20 moves to the predetermined position where skin printing needs to be performed. The platform device 30 is used to carry the patient and make the damaged skin of the patient at the predetermined position for skin printing. The control device is used to control the three-axis moving device 10, the printing 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 printing 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 at the predetermined position of the patient.

[0032] 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 driving motors (i.e., a first driving motor, a second driving motor, and a third driving motor, all not shown in the figure).

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] The second screw assembly 12 includes a slide groove 121 , a second screw 122 and a second ball bearing portion 123 .

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] In this embodiment, the second driving motor is disposed 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 in 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.

[0046] 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.

[0047] The third fixing portion 131 is in a "C" shape and is disposed 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, such 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.

[0048] The third lead screw 132 extends in the vertical direction, and its two ends are mounted on the third fixing portion 131 through rolling bearings.

[0049] The third ball bearing portion 133 is similar in structure to 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.

[0050] 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 surface of the outer housing of the third ball bearing portion 133 facing the third fixing portion 131.

[0051] The fixing plate 135 is disposed on the side surface of the outer housing of the third ball bearing portion 133 facing away from the third fixing portion 131 for fixing the print head device 20. A plurality of fixing holes are disposed on the fixing plate 135, and the heights of these fixing holes are different.

[0052] In this embodiment, the third driving motor is disposed 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 in the second horizontal direction under the drive of the second driving motor, the second lead screw 122, the second ball bearing portion 123, etc. driving the third fixing portion 131, 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.

[0053] 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.

[0054] Figure 2 Schematic diagram of the structure of the print head device in an embodiment of the present invention.

[0055] like Figure 2 As shown, the print head device 20 includes a support unit 21 and a plurality of nozzle units 22 .

[0056] The bracket unit 21 includes a bracket body 211 , a connecting body 212 and a rotating assembly (not shown in the figure).

[0057] The bracket body 211 is rectangular and has a plurality of receiving through holes (not shown in the figure) in the vertical direction, which are used to install the nozzle unit 22. The plurality of receiving through holes are arranged in a matrix. In this embodiment, there are 6 receiving through holes, which are arranged in 2 rows and 3 columns, and the positions of the two rows of receiving through holes correspond to each other. In this embodiment, a plurality of raised rubber gaskets are also provided on the inner side wall of the receiving through hole.

[0058] Figure 3 Schematic diagram of the structure of the connector in the embodiment of the present invention.

[0059] like Figure 3 As shown, the connecting body 212 includes a transverse plate 2121 and a connecting plate 2122 .

[0060] The rotating assembly includes a rotating drive motor arranged in the horizontal plate 2121 and a rotating part 213 connected to the output end of the rotating drive motor. The rotating part 213 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.

[0061] The connecting plate 2122 is vertically connected to the end of the horizontal plate 2121 away from the rotating part 213. A plurality of mounting holes are provided on the connecting plate 2122, 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 moving device 10. Therefore, the bracket unit 21 can realize three-degree-of-freedom movement with the three-axis moving device 10.

[0062] Figure 4 Schematic diagram of the structure of the nozzle unit according to the embodiment of the present invention.

[0063] like Figure 4 As shown, the spray head unit 22 includes a barrel 221, a needle 222 and a barrel cover 223. In this embodiment, the number of the spray head units 22 is 6.

[0064] The cylinder 221 is used to contain the bio-glue or bio-glue components. The outer diameter of the cylinder 221 is adapted to the inner diameter of the receiving through hole, so that the cylinder 221 can be placed in the receiving through hole and is tightly stuck in the receiving through hole due to the action of the rubber gasket, so that the cylinder 224 is not easy to slip when the receiving through hole rotates.

[0065] The cylinder cover 223 is detachably mounted on the top of the cylinder body 221 . The cylinder cover 223 is provided with an air inlet 2231 and a sealing gasket (not shown in the figure) on the inner side.

[0066] The needle 222 is disposed at the bottom end of the barrel 221 and is connected to the interior of the barrel 221 , so that the bio-glue or bio-glue components contained in the barrel 221 can be squeezed out through the needle 222 , thereby completing the coating process.

[0067] In this embodiment, the coating power device 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).

[0068] The gas storage device is used to provide pressurized air, and the gas storage device 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 device, and is used to adjust the pressure of the pressurized air provided by the gas storage device; the air filter is connected to the pressure regulator and the air inlet 2231 through a hose, and is used to filter the pressurized air after the pressure is adjusted and transport the filtered pressurized air into the cylinder 221 through the air inlet 2231. In addition, since the number of the nozzle units 22 of this embodiment is 6, the clean air outlet of the air filter is also connected to the 6 air inlets 2231 through 6 hoses. A closing clip is provided on each air inlet 2231, which is used to close the air inlet 2231 when the corresponding nozzle unit 22 does not need pressurized air.

[0069] Figure 5 Schematic diagram of the structure of the platform device in the embodiment of the present invention.

[0070] like Figure 5As 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.

[0071] 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.

[0072] 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 .

[0073] 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.

[0074] Figure 6 It is a schematic diagram of the structure of the carrier platform in an embodiment of the present invention.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] A block 324 protruding outward is disposed directly below the fixed shaft 323 .

[0079] 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 .

[0080] 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).

[0081] 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.

[0082] 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.

[0083] 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.

[0084] 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°.

[0085] 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.

[0086] The fixing assembly 35 includes a fixing belt 351 , a buckle 352 and an adjusting buckle 353 .

[0087] 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.

[0088] 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.

[0089] 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.

[0090] Two ends of the adjustment groove 36 are respectively provided with a positioning hole.

[0091] 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.

[0092] 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 pressure providing 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.

[0093] The working principle of the skin in-situ printing device of this embodiment is described below with reference to the accompanying drawings.

[0094] Before skin printing, medical personnel can place the bio-glue solution into the cylinder 221 in a sterile environment, 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 cylinder 221. 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 certain angle so that the skin injury part of the patient is in a predetermined position.

[0095] 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.

[0096] After reaching the predetermined part, the rotating assembly can be controlled to allow the needle 222 of the spray head unit 22 filled with a predetermined bio-glue solution to approach the defect part, and at the same time, the pressure regulator is opened and adjusted to allow the pressurized air to enter the cylinder 221 at a predetermined pressure, so that the bio-glue solution in the cylinder 221 is squeezed out due to the pressure and is applied to the predetermined part through the needle 222. In this process, the control device continuously sends a control signal to the stepping motor of the platform device 30, so that the carrier rotates so that the defect part of the patient is always directly below the needle 222.

[0097] 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, multiple nozzle units 22 can be simultaneously extruded and coated with the bio-glue solution. Therefore, this method is suitable for rapid large-area coating and in-situ printing of a single bio-glue solution. In addition, multiple nozzle units can also hold different bio-glue solutions or different components of bio-glue solutions, and by controlling the connection or closure of the air inlet 2231, it is possible to achieve the rapid coating of different bio-glue solutions or different components of the bio-glue solution in sequence.

[0098] Functions and Effects of the Embodiments

[0099] 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 bracket unit and a plurality of nozzle units, and the bracket body has a plurality of accommodating through holes, so the plurality of nozzle units can be installed in the accommodating through holes and then installed on the bracket body. On the one hand, the plurality of nozzle units can be enabled to simultaneously apply the bio-glue, which greatly speeds up the coating speed, and is particularly suitable for situations where the area of ​​the damaged part of the human body is relatively large; on the other hand, the plurality of nozzle units can also contain different bio-glue solutions or different components of the bio-glue solutions, thereby enabling the sequential coating of different bio-glue solutions or different components of the bio-glue solutions.

[0100] In addition, the coating power device can extrude the bio-glue from the cylinder of the nozzle unit from the pillow to achieve the coating of the bio-glue. The coating power device can adjust the extrusion speed of the bio-glue and thus facilitate the adjustment of the coating speed.

[0101] 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.

[0102] 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.

[0103] 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.

[0104] The pressure providing device in the embodiment provides pressure by compressed air, so that the biological glue 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 biological glue coating process easier to coordinate with the movement of the nozzle unit itself, so as to achieve the ideal skin printing effect.

[0105] In the embodiment, the rotating assembly can cause the support body to rotate relative to the connecting body, thereby being able to more accurately correspond to the skin defect site to achieve a better printing effect.

[0106] 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.

[0107] 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.

[0108] In the embodiment, the platform device includes a fixing component and a socket portion, wherein the fixing component has a fixing belt, buckles arranged at both ends of the fixing belt, and an adjustment buckle arranged in the middle of the fixing belt. Therefore, after the patient lies on the base plate, the buckles at both ends of the fixing belt can be fixed in the socket, so that the patient is fixed on the base plate, thereby ensuring that the part of the patient that needs to be printed does not move, and better cooperates with the print head device to complete the bio-glue coating.

[0109] In an embodiment, the connector has a connecting plate having a plurality of mounting holes, 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 a suitable height of the print head moving device.

[0110] In the embodiment, the interior of the accommodating through hole has a vertically extending accommodating hole portion, the size of the accommodating hole portion is adapted to the barrel of the nozzle unit and a rubber gasket is provided on the inner wall, so that the barrel can be well clamped and the relative positions of the barrel and the accommodating through hole can be kept consistent, so that when the accommodating through hole is moved by the connecting body or rotated by the rotating assembly, the barrel and needle of the nozzle unit can move accordingly, thereby avoiding the displacement and coating error problems caused by poor fixation between the nozzle unit and the accommodating through hole, thereby improving the accuracy of in-situ printing.

[0111] The above-mentioned embodiments are preferred examples of the present invention and are not intended to limit the protection scope of the present invention.

[0112] For example, 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, which are fixedly connected. Such a structure is simpler and more convenient to operate.

[0113] In practice, the three-axis mobile device realizes three-degree-of-freedom movement in space through three sets of screw assemblies, and the screw assembly specifically realizes movement of each degree of freedom through a ball screw pair formed between a screw and a ball bearing. However, in the present invention, the three-axis mobile device can also realize movement of three degrees of freedom in space through three sets of guide rail and roller assemblies, and the guide rail and roller assemblies specifically realize movement of each degree of freedom through a guide rail, a fitting portion fitted on the guide rail, a roller arranged between the guide rail and the fitting portion, and a motor driving the roller to roll, thereby forming a guide rail and roller structure.

[0114] 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.

[0115] 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.

[0116] 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.

[0117] 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.

[0118] In the embodiment, the pressure providing device is powered by pressurized air, so that the bio-glue 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 bio-glue coating process easier to cooperate with the movement of the nozzle unit itself, so as to achieve the ideal skin printing effect. However, in the present invention, the pressure providing device can also adopt the form of mechanical extrusion (for example, a plunger is arranged 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.

Claims

1. A skin in-situ printing device, used to apply biological glue to form artificial skin by printing on a predetermined part of a patient, characterized in that: include: A platform device, used for carrying and moving the patient; A print head device, used for applying the bio-glue to the predetermined part, comprising a support unit and a plurality of nozzle units arranged on the support unit and used for accommodating and applying the bio-glue; A coating power device, used to provide the printing head device with power to allow the bio-glue to be squeezed out of the nozzle unit when coating the bio-glue; 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 on the predetermined position of the patient; The bracket unit is installed on the three-axis mobile device, and comprises a bracket body and a connecting body connected to the bracket body, wherein the bracket body has a plurality of accommodating through holes; The spray head unit is used to contain and apply the bio-glue, and comprises a barrel for containing the bio-glue, a needle for applying the bio-glue, and a barrel cover arranged on the barrel for sealing the barrel; 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; 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; A third lead screw assembly comprises a third lead screw extending in the vertical direction, the third ball bearing portion mounted on the third lead screw by threaded connection, a third slide bar arranged parallel to the third lead screw, and a third fixing portion fixedly connected to the second ball bearing portion and fixedly connected to both ends of the third lead screw and the third slide bar; The coating power device is a pressure providing device, which is powered by pressurized air and has a gas storage device for providing the pressurized air, a pressure regulator for adjusting the pressure of the pressurized air, and an air filter for filtering the pressurized air.

2. The skin in-situ printing device according to claim 1, characterized in that: in, The support unit further comprises a rotating assembly having a rotating drive motor. The rotation driving motor is arranged on the connecting body and the output shaft is connected to the bracket body, so as to drive the bracket body to rotate relative to the connecting body.

3. The skin in situ printing device according to claim 1, Features: 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.

4. The skin in-situ printing device according to claim 3, characterized in that: 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.

5. The skin in-situ printing device according to claim 3, characterized in that: The platform device also includes: a pair of socket parts, each of the socket parts includes at least one socket, and the socket is arranged on one side of the base plate; a fixing component, comprising a fixing belt, buckles arranged at both ends of the fixing belt and matching the sockets, and an adjustment buckle arranged in the middle position of the fixing belt, and the adjustment buckle is used to adjust the length of the fixing belt.

6. The skin in-situ printing device according to claim 1, characterized in that: The three-axis moving device also has a first motor for driving the first lead screw to rotate, a second motor for driving the second lead screw to rotate, and a third motor for driving the third lead screw to rotate.

7. The skin in-situ printing device according to claim 1, characterized in that: The third ball bearing portion is provided with a fixing plate for fixing the print head device, and the fixing plate is provided with a plurality of fixing holes; 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 print head device can be mounted at different positions on the fixing plate.

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