Laser-assisted bio 3D printing gun

Abstract

The application provides a laser-assisted biological 3D printing gun, and belongs to the technical field of biological 3D printing guns. The application integrates substrate printing and biological printing in one printing gun through a control unit to control all printing processes, so that the printing gun is automated. External inflation devices, mechanical arm components and other equipment are used to reduce the weight of the printing gun, so that the overall structure is compact, the volume is small, the expansibility is high, the production cost and the labor cost are saved, and the printing mode assisted by the laser can be used to achieve fine control and output control of biological materials in micro-nano precision, so that the precision of 3D printing is improved.

Description

Technical Field

[0001] This application relates to the field of bio-3D printing gun technology, and in particular to a laser-assisted bio-3D printing gun. Background Technology

[0002] Bioprinting uses biological materials to repair damaged areas of the human body. Currently, most bioprinting technologies utilize hydrogels and natural polymers (such as fibrin, collagen, alginate, cellulose, and chitosan) to create biomaterials. Bioprinting can replicate human tissue structures, and by using biological materials as printing ink, it is theoretically possible to achieve biomimetic physiological functions in the replicated cells and tissues. Most contemporary bioprinting techniques can print biomimetic cell and tissue structures on the surface of human skin.

[0003] Current bioprinting devices have several drawbacks: First, printers are often large, requiring a large operating space to print surgical wounds on patients; second, the printing process requires layering materials, which necessitates ensuring the extrusion of biomaterials at micro-nano precision to perfectly mimic human cell structures. However, traditional printing processes, due to excessively small filament spacing and excessive hydrogel spray volume, are prone to premature curing, making it difficult to guarantee the micro-nano precision requirements. Therefore, few printing guns can meet such precise requirements; third, conventional bioprinting systems control the output of biomaterials through an electrical control system, but this control system has many firmware components, is difficult to move, and is costly. Summary of the Invention

[0004] In view of the shortcomings of the prior art described above, the purpose of this application is to provide a laser-assisted bio-3D printing gun to solve the problems of large size, low precision and high cost in the prior art.

[0005] To achieve the above and other related objectives, a first aspect of this application provides a laser-assisted bio-3D printing gun with an external inflation device, comprising: multiple first storage units for storing biomaterials required for bioprinting; a gun body, the gun body comprising: a laser emitting unit with a laser reflecting unit on its laser emission path, so that the laser is directed towards the current first storage unit through the laser reflecting unit, and the rotation of the laser reflecting unit is used to focus different parts of the current first storage unit to melt the biomaterial inside; a second storage unit for storing the substrate liquid required for substrate printing, connected to the inflation device to form a pneumatic circuit; and a control unit electrically connected to the laser emitting unit and the laser reflecting unit to control the laser emission of the laser emitting unit and the rotation of the laser reflecting unit for 3D printing.

[0006] In some embodiments of the first aspect of this application, when the amount of biomaterial in one of the plurality of first storage units is insufficient, other first storage units with material are moved to the current 3D printing position to continue bioprinting.

[0007] In some embodiments of the first aspect of this application, the gun body further includes a temperature regulation unit electrically connected to the control unit, used to collect the temperature value inside the second storage unit and perform constant temperature regulation.

[0008] In some embodiments of the first aspect of this application, the temperature regulating unit includes: a temperature detection device and a cooling device; wherein, when the temperature detection device detects that the temperature inside the second storage unit does not meet the preset temperature of the base liquid, the control unit controls the cooling device to regulate the temperature so that the temperature inside the second storage unit meets the preset temperature.

[0009] In some embodiments of the first aspect of this application, the gun body further includes a pressure regulating unit electrically connected to the control unit for collecting and regulating the pressure values ​​inside the second storage unit and the inflation device.

[0010] In some embodiments of the first aspect of this application, the air pressure regulating unit includes: a plurality of air pressure detection devices and a three-way solenoid valve; wherein, a first air pressure detection device is provided between the inflation device and the three-way solenoid valve for detecting the air pressure in the inflation device; a second air pressure detection device is provided between the three-way solenoid valve and the second storage unit for detecting the air pressure in the second storage unit; the control unit controls the opening and closing of the three-way solenoid valve to control the air supply or disconnection between the inflation device and the second storage unit.

[0011] In some embodiments of the first aspect of this application, when the second air pressure detection device detects that the air pressure value in the second storage unit is lower than a preset value, the inflation device is opened to inflate the second storage unit.

[0012] In some embodiments of the first aspect of this application, the air pressure regulating unit further includes: a damper, a transmission device, and a motor; wherein the damper is disposed between the second air pressure detection device and the second storage unit, and the damper and the motor are connected through the transmission device; the control unit controls the motor to drive the transmission device to drive the damper to regulate the air pressure in the second storage unit.

[0013] In some embodiments of the first aspect of this application, the control unit includes a microcontroller that integrates control of the temperature control unit, the air pressure regulation unit, and the laser reflection unit for 3D printing.

[0014] In some embodiments of the first aspect of this application, the gun body further includes a liquid level alarm unit, which mainly includes: a liquid level detection device disposed inside the second storage unit; the liquid level detection device is electrically connected to the control unit and is used to detect the remaining amount of the base liquid; an alarm device disposed on the outer shell of the gun body; the alarm device is electrically connected to the control unit and issues a warning signal when the remaining amount of the base liquid is insufficient.

[0015] In some embodiments of the first aspect of this application, the 3D printing gun is externally connected to a robotic arm component; the robotic arm component has a preset 3D printing path to drive the 3D printing gun to move along the 3D printing path.

[0016] In some embodiments of the first aspect of this application, the first storage unit is provided with a first curing ultraviolet lamp for curing the biomaterial; the control unit is electrically connected to and controls the opening and closing of the first curing ultraviolet lamp.

[0017] In some embodiments of the first aspect of this application, the gun head portion of the gun body is provided with a second curing ultraviolet lamp for curing the base liquid; the control unit is electrically connected to and controls the opening and closing of the second curing ultraviolet lamp.

[0018] As described above, the laser-assisted bio-3D printing gun of this application has the following beneficial effects:

[0019] 1. Integration and Automation. This application achieves automation of the printing gun by integrating substrate printing and bioprinting into a single printing gun and controlling the entire printing process through a control unit.

[0020] 2. Low cost. By using external inflation devices and robotic arm components, the weight of the printing gun is reduced, resulting in a compact overall structure, small size, high scalability, and savings in production and labor costs.

[0021] 2. Precise Control. Utilizing laser-assisted printing, precise control can be achieved, allowing the output of biomaterials to be controlled at micro-nano precision, thus improving the accuracy of 3D printing. Attached Figure Description

[0022] Figure 1 The diagram shown is a schematic of a laser-assisted bio-3D printing gun module according to one embodiment of this application.

[0023] Figure 2 The diagram shown is a structural schematic of a laser-assisted bio-3D printing gun according to an embodiment of this application.

[0024] Figure 3The diagram shown is a schematic diagram of the first material storage unit in a laser-assisted bio-3D printing gun according to an embodiment of this application.

[0025] Figure 4 The diagram shown is a structural schematic of the tail portion of a laser-assisted bio-3D printing gun according to an embodiment of this application.

[0026] Figure 5 The diagram shown is a flowchart illustrating a control method for a laser-assisted bio-3D printing gun according to an embodiment of this application.

[0027] Component designation explanation

[0028] 100 3D printing guns

[0029] 200 First Storage Unit

[0030] 210 First Curing UV Lamp

[0031] 220 dropper tip

[0032] 300 gun body

[0033] 310 Inflation device

[0034] 320 Second curing UV lamp

[0035] 110 laser emitting units

[0036] 120 laser reflection units

[0037] 130 Control Unit

[0038] 140 Temperature Control Unit

[0039] 141 Temperature detection device

[0040] 142 Cooling Components

[0041] 143 Water-cooled radiator

[0042] 150 air pressure regulating unit

[0043] 151 Barometric Pressure Detection Device

[0044] 151-1 First Air Pressure Detection Device

[0045] 151-2 Second air pressure detection device

[0046] 152 Three-way solenoid valve

[0047] 153 Dampers

[0048] 154 Transmission device

[0049] 155 motor

[0050] 160 Liquid Level Alarm Unit

[0051] 161 Liquid Level Detection Device

[0052] 162 Alarm Device

[0053] 170 Second Storage Unit

[0054] A water-cooled radiator inlet

[0055] B. Water-cooled radiator outlet

[0056] C Air Inlet

[0057] D Power Interface

[0058] E Robotic Arm Component Interface Detailed Implementation

[0059] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. This application can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be noted that, unless otherwise specified, the following embodiments and features in the embodiments can be combined with each other.

[0060] It should be noted that in the following description, reference is made to the accompanying drawings, which illustrate several embodiments of this application. It should be understood that other embodiments may also be used, and changes in mechanical composition, structure, electrical system, and operation may be made without departing from the spirit and scope of this application. The following detailed description should not be considered limiting, and the scope of the embodiments of this application is defined only by the claims of the published patent. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application. Spatially related terms, such as “upper,” “lower,” “left,” “right,” “below,” “below,” “lower part,” “above,” “upper part,” etc., may be used herein to illustrate the relationship between one element or feature shown in the figures and another element or feature.

[0061] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "fixing," and "holding" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0062] Furthermore, as used herein, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless the context indicates otherwise. It should be further understood that the terms “comprising,” “including,” indicate the presence of the stated feature, operation, element, component, item, kind, and / or group, but do not preclude the presence, occurrence, or addition of one or more other features, operations, elements, components, items, kinds, and / or groups. The terms “or” and “and / or” as used herein are interpreted as inclusive, or mean any one or any combination thereof. Thus, “A, B, or C” or “A, B, and / or C” means “any one of: A; B; C; A and B; A and C; B and C; A, B, and C.” Exceptions to this definition arise only when combinations of elements, functions, or operations are inherently mutually exclusive in some manner.

[0063] To make the objectives, technical solutions, and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for explaining the present invention and are not intended to limit the invention.

[0064] Before providing a further detailed description of the present invention, the nouns and terms used in the embodiments of the present invention are explained, and the nouns and terms used in the embodiments of the present invention are subject to the following interpretations:

[0065] Bio-3D printing technology: 3D printing technology is an emerging application technology based on computer-aided three-dimensional digital imaging technology and multi-layer continuous printing. Bio-3D printing technology, based on 3D printing, uses additive manufacturing to print biomaterials or cells according to biomimetic morphology, biological function, and specific cellular microenvironment requirements, creating biomedical products such as three-dimensional biological structures, in vitro three-dimensional biological functional bodies, and regenerative medicine models with complex structures and functions. This technology is increasingly widely used in the life sciences field and has become one of the most promising technologies of the 21st century.

[0066] Biomaterials: Also known as biomedical materials, the term is broadly and narrowly defined in academia. Broadly, it refers to high-performance novel materials developed by inspiring or mimicking certain properties of living organisms. These materials are widely used in various fields of society, including electronics, medicine, and energy. Narrowly, it refers specifically to high-performance materials used in medicine, capable of diagnosing, repairing, or replacing certain tissues in the human body. Biomedical materials primarily refer to technologies such as gene recombination, cell fusion, and biomanufacturing, utilizing organisms or cells to obtain various products needed for medical purposes. These products can be used for clinical diagnosis, treatment, repair, or enhancement of local tissue functions. They are generally classified into two types: biocompatibility materials and biodegradability materials. The materials can be derived from natural or synthetic sources.

[0067] Solenoid valves: Solenoid valves are electromagnetically controlled industrial devices, fundamental components of automation systems used to control fluids. They are actuators, not limited to hydraulic or pneumatic systems. Used in industrial control systems to adjust the direction, flow rate, speed, and other parameters of the medium. Solenoid valves can be used with different circuits to achieve the desired control, ensuring both precision and flexibility. There are many types of solenoid valves, each playing a different role in the control system. The most common are check valves, safety valves, directional control valves, and speed regulating valves. A solenoid valve has a sealed chamber with through-holes at different positions, each connecting to a different oil pipe. Inside the chamber is a piston, flanked by two electromagnets. When the coil of one electromagnet is energized, the valve body is attracted to that side. By controlling the movement of the valve body, different drain holes are opened or closed. The inlet hole is always open, allowing hydraulic oil to enter different drain pipes. The oil pressure then pushes the piston in the cylinder, which in turn moves the piston rod, which in turn drives the mechanical device. Thus, controlling the flow of current to the electromagnets controls the mechanical movement.

[0068] like Figure 1 , Figure 2 The diagram shown illustrates a module schematic and structural schematic of a laser-assisted bio-3D printing gun according to an embodiment of this application. The 3D printing gun 100 is externally connected to an air inflation device 310. The 3D printing gun 100 includes multiple first material storage units 200 and a gun body 300. The gun body 300 includes a laser emitting unit 110, a laser reflecting unit 120, a second material storage unit 170, and a control unit 130.

[0069] The inflation device 310 is preferably an air pump because air pumps are easy to adjust, automatically maintain pressure, are safe to operate, and are simple to maintain. The inflation device 310 can be located inside the gun body 300 or on the outer shell of the gun body 300. This application uses an external air pump connected to the 3D printing gun to reduce the weight of the printing gun.

[0070] The plurality of first storage units 200 are used to store biomaterials required for bioprinting. Preferably, the first storage unit 200 has a three-dimensional card structure, such as... Figure 3 As shown, it is small in size and easy to operate, but can also be other regularly shaped three-dimensional structures. The first storage unit 200 includes a nozzle 220 for discharging its internal biological material. The nozzle 220 is preferably inverted triangular in shape, which helps to reduce the amount of liquid dripped and facilitates the flow of biological material from the tip of the inverted triangle.

[0071] The biomaterials mentioned can be bio-inks, bio-concrete, etc. Bio-inks are inks used in 3D printers. They are created by injecting mesenchymal stem cells into tissues requiring regeneration, and then using a 3D printer to produce artificial tissues that closely resemble actual organs and tissues. Previously, 3D printers used "bio-inks" primarily employing hydrogels made from collagen, but this presents significant challenges in printing complex tissues. The novel "bio-concrete" ink uses prefunctionalized cell-carrying microspheres as "pebbles" and a high-concentration GelMA hydrogel prepolymer as "cement." A robotic in-situ bio-3D printing system has been developed to directly deposit "bio-concrete" at the site of tissue defects, based on the morphology of the defect, achieving tissue regeneration and repair.

[0072] The laser emitting unit 110 has a laser reflecting unit 120 along its laser emission path. The laser is directed towards the current first storage unit 200 via the laser reflecting unit 120, and the rotation of the laser reflecting unit 120 focuses the laser light onto different parts of the current first storage unit 200 to melt the biomaterial inside. Preferably, the laser emitting unit 110 is a laser emitter; the laser reflecting unit 120 is preferably a reflector.

[0073] It should be noted that the laser emitting unit 110 and the laser reflecting unit 120 reflect laser light off the first storage unit 200 to melt the biomaterial, which is used for bioprinting. Taking hydrogel as an example, the hydrogel is stored in the first storage unit, the first storage unit is moved to the damaged area, and the laser emitting unit emits laser light onto the laser reflecting unit. The laser reflecting unit reflects the laser light back to the current first storage unit, so that the hydrogel inside the current first storage unit melts. The melting point of the hydrogel is above 135°C, and the temperature of the laser is higher than that of the hydrogel. The laser irradiation melts the hydrogel into droplets, which then drip onto the damaged area.

[0074] Furthermore, because the hydrogel is solid, the angle and direction of the laser reflection unit need to be changed to irradiate the hydrogel in the first storage unit with lasers along different paths. These paths can be regular or irregular; for example, the hydrogel can be uniformly irradiated in a linear sequence, or irradiated in a circle starting from the center. The ultimate goal is to ensure that all parts of the solid hydrogel melt completely, achieving full utilization. Moreover, different irradiation angles and directions result in different laser intensities focused on the hydrogel. By varying the irradiation intensity, the melting rate of the hydrogel can be altered, thereby increasing the precision of bio-3D printing.

[0075] It should be explained that "the current first storage unit" refers to the small size of the first storage unit in this invention, which helps to reduce the size and weight of the printing gun. Considering that some damaged areas are large, using only the biomaterial inside one first storage unit for bioprinting may not be able to completely cover the entire damaged area. Therefore, the laser-assisted bioprinting gun proposed in this invention includes multiple first storage units. When the remaining amount of biomaterial inside the first storage unit currently being used for bioprinting the damaged area by laser melting is insufficient, a new biomaterial first storage unit can be called to the damaged area, so that the laser can continue to irradiate the first storage unit of the current damaged area, melting the biomaterial inside it for bioprinting.

[0076] The second storage unit 170 is used to store the base liquid required for substrate printing and is connected to the inflation device 310 to form a pneumatic circuit. The second storage unit 170 can preferably be a syringe, or any other cubic, cylindrical or other shapes used to store the base liquid required for substrate printing.

[0077] It should be noted that the purpose of the printing substrate in this invention is to pre-fill the damaged area with a film to facilitate the absorption of biomaterial particles (such as hydrogel particles) after melting and bioprinting. The substrate liquid refers to biodegradable biomaterials (such as thermosensitive gels) that are soluble in the human body. The function of the pneumatic circuit formed with the air inflation device 310 is to achieve stable extrusion of the substrate liquid through the entire circuit to print and form the substrate.

[0078] The control unit 130 is electrically connected to the laser emitting unit 110 and the laser reflecting unit 120 to control the laser emission of the laser emitting unit 110 and the rotation of the laser reflecting unit 120 for 3D printing.

[0079] It should be noted that the control unit 130 may be any one or more combinations of MCU (Microcontroller Unit) chip, CPU (Central Processing Unit) chip, MPU (Microprocessor Unit) chip, DSP (Digital Signal Processing) chip, etc.

[0080] Specifically, in the entire 3D printing process of this invention, the base liquid in the second storage unit 170 is first used to inflate and extrude the base liquid through the inflation device 310 to print a base layer on the damaged area. Then, the first storage unit 200 is moved to the position of the base layer, and the control unit 130 controls the laser emission unit 110 to turn on the laser emission to the laser reflection unit 120. The control unit 130 controls the rotation of the laser reflection unit 120 so that the laser is focused on the biomaterial inside the first storage unit 200, so that the biomaterial melts and drips onto the base layer to complete the bioprinting. Printing the base layer on the damaged area first and then performing bioprinting is to make the bioprinting effect better.

[0081] In one embodiment of this application, when the remaining amount of biomaterial in one of the plurality of first storage units 200 is insufficient, other first storage units with material are moved to the current 3D printing position to continue bioprinting. The method used to move other first storage units 200 with material depends on the connection method between the first storage unit 200 and the printing gun body 300. For example, the first storage unit 200 can be connected to the printing gun body 300 via a shaft. In this case, when moving among the plurality of first storage units 200, the shaft can be rotated to change the position of the first storage unit 200, or the first storage unit can be manually moved to the current printing position.

[0082] In one embodiment of this application, the gun body 300 further includes a temperature regulation unit 140, electrically connected to the control unit 130, for collecting the temperature value inside the second storage unit 170 and performing constant temperature regulation. The temperature regulation unit 140 includes a temperature detection device 141 and a cooling device (not shown); wherein, when the temperature detection device 141 detects that the temperature inside the second storage unit 170 does not meet the preset temperature of the base liquid, the control unit 130 controls the cooling device to regulate the temperature so that the temperature inside the second storage unit 170 meets the preset temperature. The temperature detection device 141 is preferably a temperature sensor, which has the advantages of accurate temperature measurement results, timely feedback, and convenient rapid temperature adjustment.

[0083] Combination Figure 2 The cooling device includes a cooling chip 142 and a water-cooled radiator 143, where port A represents the water inlet of the water-cooled radiator 143 and port B represents the water outlet of the water-cooled radiator 143. The cooling chip 142 can be a semiconductor cooling chip, and the water-cooled radiator 143 can carry away more heat by allowing water to enter and exit through internal water channels. To maintain the activity of the base liquid inside the second storage unit 170, the temperature needs to be kept within a preset constant temperature range (e.g., maintained within the range of 0-10℃). This is achieved by first detecting the temperature inside the gun body using a temperature detection device 141. If the temperature does not meet the preset temperature, the control unit 130 controls the cooling chip 142 and the water-cooled radiator 143 to adjust the temperature to meet the preset temperature required by the base liquid.

[0084] In one embodiment of this application, the gun body 300 further includes a pressure regulating unit 150, which is electrically connected to the control unit 130 and is used to collect the pressure values ​​inside the second storage unit 170 and the inflation device 310 and to regulate the pressure.

[0085] The air pressure regulating unit 150 includes multiple air pressure detection devices 151 and a three-way solenoid valve 152; wherein, a first air pressure detection device 151-1 is provided between the inflation device 310 and the three-way solenoid valve 152, for detecting the air pressure in the inflation device 310; a second air pressure detection device 151-2 is provided between the three-way solenoid valve 152 and the second storage unit 170, for detecting the air pressure in the second storage unit 170; the control unit 130 controls the opening and closing of the three-way solenoid valve 152 to control the air supply or disconnection between the inflation device 310 and the second storage unit 170.

[0086] Preferably, the air pressure detection device 151 can be an air pressure sensor, which has the advantages of high precision, small size, high stability and long service life.

[0087] When the second air pressure detection device 151-2 detects that the air pressure value in the second storage unit 170 is lower than the preset value, the inflation device 310 is opened to inflate the second storage unit 170.

[0088] It should be noted that, in order to ensure a stable output of the base liquid inside the second storage unit 170, the air pressure inside the print gun needs to be monitored and adjusted in real time. The second air pressure detection device 151-2 checks whether the air pressure inside the second storage unit 170 reaches a preset value. If the air pressure does not meet the requirements for base printing, the inflation device 310 is activated. At this time, the first air pressure detection device 151-1 checks whether the gas injected into the inflation device 310 is sufficient. If the inflation device 310 has sufficient gas, the control unit 130 controls the three-way solenoid valve 152 to open. Under the action of the gas, the pressure inside the second storage unit 170 increases, squeezing the base liquid out to the damaged area to achieve base printing. When base printing is complete, or when it is necessary to pause during printing, the three-way solenoid valve 152 can be closed to disconnect the channel between the inflation device 310 and the second storage unit 170, i.e., inflation stops, and base printing is paused or stopped.

[0089] In one embodiment of this application, the air pressure regulating unit 150 further includes a damper 153, a transmission device 154, and a motor 155; wherein, the damper 153 is disposed between the second air pressure detection device 151-2 and the second storage unit 170, and the damper 153 and the motor 155 are connected through the transmission device 154; the control unit 130 controls the motor 155 to drive the transmission device 154 to drive the damper 153 to regulate the air pressure in the second storage unit. Preferably, the transmission device can be a transmission screw, which is small in size, light in weight, and has high transmission efficiency.

[0090] In one embodiment of this application, the control unit 130 includes a microcontroller, which integrates control of the temperature control unit 140, the air pressure regulation unit 150, and the laser reflection unit 120 for 3D printing.

[0091] The control unit 130 is preferably a microcontroller. This invention uses a microcontroller to control the printing of the substrate, the emission of the laser, and the angle and direction of laser reflection to automate the printing gun operation. The microcontroller can be categorized as follows: based on data bus width, it can be classified as 8-bit, 16-bit, or 32-bit; based on memory structure, it can be classified as Harvard architecture or Von Neumann architecture; based on the type of embedded program memory, it can be classified as OTP, mask, EPROM / EEPROM, or Flash memory; and based on instruction set architecture, it can be classified as CISC (Complex Instruction Set Computer) or RISC (Reduced Instruction Set Computer) microcontrollers.

[0092] In one embodiment of this application, the gun body 300 further includes a liquid level alarm unit 160, which mainly includes: a liquid level detection device 161, disposed inside the second storage unit 170; the liquid level detection device 161 is electrically connected to the control unit 130 and is used to detect the remaining amount of the base liquid; an alarm device 162, disposed on the outer shell of the gun body 300; the alarm device 162 is electrically connected to the control unit 130 and issues a warning signal when the remaining amount of the base liquid is insufficient.

[0093] Preferably, the liquid level detection device 161 employs a liquid level sensor, which has advantages such as good stability, high accuracy, strong anti-interference ability, and reverse protection and current limiting protection circuits. The alarm device 120 can be any one or more combinations of warning lights, alarm bells, etc., to emit visual and audible warning signals.

[0094] In one embodiment of this application, the 3D printing gun 100 is externally connected to a robotic arm component; the robotic arm component has a preset 3D printing path to drive the 3D printing gun to move along the 3D printing path.

[0095] Combination Figure 4In this invention, port A represents the water inlet of the water-cooled radiator 143; port C represents the air inlet connected to the air filling device 310; port D represents the power interface, allowing for a reduction in the size of the 3D printing gun 100 via an external power supply; and port E is the interface for connecting an external robotic arm component to the gun body. The first material storage unit 200 also has an interface for connecting an external robotic arm component (not shown). The external robotic component can drive the 3D printing gun along a preset path corresponding to the damaged area to first print the substrate. Then, the robotic arm component is connected to the first material storage unit 200 and moves the first material storage unit 200 along the same preset path, causing the biomaterial to melt and drip onto the substrate to complete the bioprinting. The invention also includes an external display device to display the temperature, pressure, and remaining volume values ​​detected by corresponding detection devices (such as temperature detection device 141, air pressure detection device 151, and liquid level detection device 161).

[0096] In summary, the 3D printing gun provided in this application reduces its weight by connecting external devices, resulting in a compact and small overall structure. It also facilitates operation by connecting external actuators. Furthermore, the external display device shows the measured values, allowing for more intuitive and timely control and adjustment in conjunction with the control unit.

[0097] In one embodiment of this application, the first storage unit 200 is provided with a first curing ultraviolet lamp 210 for curing the biomaterial; the control unit 130 is electrically connected to and controls the opening and closing of the first curing ultraviolet lamp 210. The function of the first curing ultraviolet lamp 210 is to cure the biological components of the biomaterial during the printing process.

[0098] In one embodiment of this application, the nozzle of the gun body 300 is provided with a second curing ultraviolet lamp 320 for curing the base liquid; the control unit 130 is electrically connected to and controls the turning on and off of the second curing ultraviolet lamp 210. The function of the second curing ultraviolet lamp 320 is to cure the biological components of the base liquid during the printing process.

[0099] like Figure 5 The diagram shown illustrates a flow chart of a control method for a laser-assisted bio-3D printing gun according to an embodiment of this application. Specific steps include:

[0100] 1. Filling printing materials. The first storage unit 200 of the 3D printing gun 100 is filled with biomaterial (taking hydrogel as an example), the second storage unit 170 in the gun body 300 is filled with base liquid, and the gun body 300 is connected to a robotic arm component with a preset printing path and an external display device to display temperature and air pressure values.

[0101] 2. Maintain a constant temperature environment. Connect the gun body 300 to the power supply and turn on the power. The internal temperature of the gun body 300 is detected by the temperature detection device 141. When the temperature does not meet the predicted temperature of the base liquid, the control unit 130 controls the cooling device to cool down, that is, controls the cooling chip 142 to cool down and the water-cooled radiator 143 to dissipate heat until the temperature value displayed on the display device meets the preset temperature, and then proceed to the next step.

[0102] 3. Provide the required air pressure. The external inflation device 310 is powered on and inflation begins. The first air pressure detector measures the current air pressure value of the inflation device 310. If the requirement is met, the three-way solenoid valve 152 is opened to provide air pressure to the second storage unit 170. At the same time, the second air pressure detection device 151-2 detects the current air pressure value in the second storage unit 170 and displays it in real time on the external display device. If the preset air pressure value requirement is not met, the control unit 130 controls the motor 155 to start and drive the transmission device 154 to drive the damper 153 to adjust the air pressure in the second storage unit 170 to meet the air pressure requirement so that the gas squeezes the base liquid to flow out. At the same time, the mechanical parts are moved to make the base liquid print the base according to the preset path.

[0103] 4. Perform bioprinting. After completing the substrate printing, move the first storage unit 200 directly above the damaged part of the substrate, attach the same robotic arm component to the first storage unit 200, activate the laser emitting unit 110 to emit a laser to the laser reflecting unit 120, and control unit 130 controls the angle and direction of the laser reflecting unit 120 to focus the laser onto the first storage unit 200. The temperature of the laser melts the hydrogel in the first storage unit 200, and the melted hydrogel drips onto the substrate. At this time, the robotic arm component performs bioprinting along the same preset path.

[0104] 5. Real-time control and precise printing. During the substrate printing process, the temperature detection device 141 and the air pressure detection device 151 remain in operation to maintain a constant temperature and meet the preset requirements for air pressure, which are controlled by the control unit 130. The liquid level detection device 161 detects the remaining amount of substrate liquid in the second storage unit 170. When the detected amount is insufficient, the alarm device 162 promptly issues a warning signal to pause substrate printing for replenishing substrate liquid or to stop printing directly.

[0105] In summary, this application provides a laser-assisted bioprinting gun that integrates substrate printing and bioprinting into a single gun, and automates the entire printing process through a control unit. External inflation devices and robotic arm components reduce the gun's weight, resulting in a compact, small-sized, and highly scalable design that saves on production and labor costs. The laser-assisted printing mode allows for precise control, ensuring the output of biomaterials is controlled at micro-nano precision, thus improving 3D printing accuracy. Therefore, this application effectively overcomes the shortcomings of existing technologies and possesses significant industrial applicability.

[0106] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this application should still be covered by the claims of this application.

Claims

1. A laser-assisted bio-3D printing gun, characterized in that, External inflation device, including: Multiple primary storage units are used to store the biomaterials required for bioprinting; Gun body, the gun body comprising: The laser emitting unit has a laser reflecting unit on its laser emission path, so that the laser is directed towards the current first storage unit through the laser reflecting unit, and the laser reflecting unit is rotated to focus different parts of the current first storage unit to melt the biomaterial inside it. The second storage unit is used to store the base liquid required for substrate printing and is connected to the air inflation device to form a pneumatic circuit. A control unit is electrically connected to the laser emitting unit and the laser reflecting unit to control the laser emission of the laser emitting unit and the rotation of the laser reflecting unit for 3D printing.

2. The laser-assisted bio-3D printing gun according to claim 1, characterized in that, When the amount of biomaterial in one of the plurality of first storage units is insufficient, other first storage units with material are moved to the current 3D printing position to continue bioprinting.

3. The laser-assisted bio-3D printing gun according to claim 1, characterized in that, The gun body also includes a temperature regulation unit, which is electrically connected to the control unit and is used to collect the temperature value inside the second storage unit and perform constant temperature regulation.

4. The laser-assisted bio-3D printing gun according to claim 3, characterized in that, The temperature control unit includes: a temperature detection device and a refrigeration device; When the temperature detection device detects that the temperature inside the second storage unit does not meet the preset temperature of the base liquid, the control unit controls the refrigeration device to adjust the temperature so that the temperature inside the second storage unit meets the preset temperature.

5. The laser-assisted bio-3D printing gun according to claim 3, characterized in that, The gun body also includes a pressure regulating unit, which is electrically connected to the control unit and is used to collect the pressure values ​​inside the second storage unit and the inflation device and to regulate the pressure.

6. The laser-assisted bio-3D printing gun according to claim 5, characterized in that, The air pressure regulating unit includes: multiple air pressure detection devices and a three-way solenoid valve; A first air pressure detection device is provided between the inflation device and the three-way solenoid valve to detect the air pressure inside the inflation device; a second air pressure detection device is provided between the three-way solenoid valve and the second storage unit to detect the air pressure inside the second storage unit. The control unit controls the opening and closing of the three-way solenoid valve to control the air supply or disconnection between the inflation device and the second storage unit.

7. The laser-assisted bio-3D printing gun according to claim 6, characterized in that, When the second air pressure detection device detects that the air pressure in the second storage unit is lower than the preset value, it opens the inflation device to inflate the second storage unit.

8. The laser-assisted bio-3D printing gun according to claim 7, characterized in that, The air pressure regulating unit also includes: a damper, a transmission device, and a motor; The damper is located between the second air pressure detection device and the second storage unit, and the damper is connected to the motor through the transmission device. The control unit controls the motor to drive the transmission device to drive the damper to adjust the air pressure in the second storage unit.

9. The laser-assisted bio-3D printing gun according to claim 8, characterized in that, The control unit includes a microcontroller, which integrates the control of the temperature regulation unit, the air pressure regulation unit, and the laser reflection unit for 3D printing.

10. The laser-assisted bio-3D printing gun according to claim 1, characterized in that, The gun body also includes a liquid level alarm unit, which mainly includes: A liquid level detection device is installed inside the second storage unit; the liquid level detection device is electrically connected to the control unit and is used to detect the remaining amount of the base liquid; An alarm device is installed on the outer shell of the gun body; the alarm device is electrically connected to the control unit, and it issues a warning signal when the remaining amount of the base liquid is insufficient.

11. The laser-assisted bio-3D printing gun according to claim 1, characterized in that, The 3D printing gun is connected to an external robotic arm component; the robotic arm component has a preset 3D printing path to drive the 3D printing gun to move along the 3D printing path.

12. The laser-assisted bio-3D printing gun according to claim 1, characterized in that, The first storage unit is equipped with a first curing ultraviolet lamp for curing the biomaterial; the control unit is electrically connected to and controls the first curing ultraviolet lamp to turn on and off.

13. The laser-assisted bio-3D printing gun according to claim 1, characterized in that, The nozzle of the gun body is equipped with a second curing ultraviolet lamp for curing the base liquid; the control unit is electrically connected to and controls the second curing ultraviolet lamp to turn on and off.

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