System and method for printing 3D biological structures

Abstract

A computer system (110) for 3D printing a biological structure on an internal damaged region of a patient is provided. The computer system (110) includes one or more computer processors, one or more computer-readable storage media, and computer program instructions. The computer program instructions are stored on the one or more computer-readable storage media for execution by the one or more computer processors. The computer program instructions include instructions to: assemble a first bioprinter capsule (120) and a first cartridge capsule (130) to form an assembled bioprinter inside the patient based at least in part on directing one or more external magnetic fields toward the first bioprinter capsule (120) and the first cartridge capsule (130), wherein: the first bioprinter capsule (120) includes a first magnetic signature (124) and at least one interlocking surface (127); and the first cartridge capsule (130) includes a second magnetic signature (134) and at least one interlocking surface (137); move the assembled bioprinter to the internal damaged region of the patient based at least in part on altering the one or more external magnetic fields directed toward the assembled bioprinter; and print a first biological structure onto the internal damaged region of the patient via the assembled bioprinter based at least in part on altering the one or more external magnetic fields directed toward the assembled bioprinter, wherein the one or more external magnetic fields are sequentially altered to progressively move the assembled bioprinter along at least one plane.

Description

Background Technology

[0001] This invention relates generally to the field of 3D printing, and more specifically to the use of 3D printer technology to print biological tissue structures or biological structures.

[0002] 3D printing, also known as additive manufacturing, allows for the construction of complex and detailed structures by placing one layer of structure on top of another, producing a 3D structure once compiled. The 3D printing process typically begins with a generated file containing the desired 3D structure. The file is then sliced ​​into X, Y, and Z axis coordinates, which serve as the orientation for the 3D printer regarding how to build the 3D structure. The desired level of detail in the final structure is typically controlled by the thickness of each layer. This layer thickness is user-controlled but is usually limited by the sensitivity and capabilities of the 3D printer itself. While traditional methods of 3D printing have involved the use of polymers such as polylactic acid (PLA), advances in 3D printing technology have led to new and innovative methods for printing biological structures using biomaterials.

[0003] 3D printing biological structures using biomaterials and / or biocompatible materials has revolutionized how scientists and medical professionals approach patient care. Scientists are now able to use materials compatible with living organisms to build not only cellular layers but also functional and complete structures, such as human ear and vascular grafts. These structures can be built using materials traditionally found in living organisms, such as gelatin or collagen, but can also utilize synthetic molecules specifically engineered to mimic biological structures. Recent innovations have further expanded the list of available bioprinting materials to include single cells and allow for the 3D printing of tissues. Summary of the Invention

[0004] According to one embodiment of the present invention, a computer-implemented method for 3D printing a biological structure on a damaged area inside a patient is disclosed. The computer-implemented method includes assembling a first bioprinter capsule and a first cartridge capsule, at least partially based on guiding one or more external magnetic fields toward a first bioprinter capsule and a first cartridge capsule, to form an assembled bioprinter inside the patient. The first bioprinter capsule includes a first magnetic signature and at least one interlocking surface. The first cartridge capsule includes a second magnetic signature and at least one interlocking surface. The computer-implemented method further includes moving the assembled bioprinter to the damaged area inside the patient, at least partially based on changing one or more external magnetic fields guided toward the assembled bioprinter. The computer-implemented method further includes printing a first biological structure onto the damaged area inside the patient via the assembled bioprinter, at least partially based on changing one or more external magnetic fields guided toward the assembled bioprinter, wherein the one or more external magnetic fields are sequentially changed to progressively move the assembled bioprinter along at least one plane.

[0005] According to another embodiment of the present invention, a computer program product for 3D printing a biological structure on a damaged area inside a patient is disclosed. The computer program product includes one or more computer-readable storage media and program instructions stored on the one or more computer-readable storage media. The program instructions include instructions for assembling a first bioprinter capsule and a first cartridge capsule to form an assembled bioprinter inside the patient, based at least partially on guiding one or more external magnetic fields toward a first bioprinter capsule and a first cartridge capsule. The first bioprinter capsule includes a first magnetic signature and at least one interlocking surface. The first cartridge capsule includes a second magnetic signature and at least one interlocking surface. The program instructions also include instructions for moving the assembled bioprinter to the damaged area inside the patient, based at least partially on changing the one or more external magnetic fields guided toward the assembled bioprinter. The program instructions also include instructions for printing a first biological structure onto the damaged area inside the patient via the assembled bioprinter, based at least partially on changing the one or more external magnetic fields guided toward the assembled bioprinter, wherein the one or more external magnetic fields are sequentially changed to progressively move the assembled bioprinter along at least one plane.

[0006] According to another embodiment of the present invention, a computer system for 3D printing biological structures on a damaged area inside a patient is disclosed. The computer system includes one or more computer systems, including one or more computer processors, one or more computer-readable storage media, and program instructions stored on the computer-readable storage media for execution by at least one of the one or more computer processors. The program instructions include instructions at least partially based on guiding one or more external magnetic fields toward a first bioprinter capsule and a first cartridge capsule to assemble an assembled bioprinter inside the patient. The first bioprinter capsule includes a first magnetic signature and at least one interlocking surface. The first cartridge capsule includes a second magnetic signature and at least one interlocking surface. The program instructions also include instructions at least partially based on changing the one or more external magnetic fields guided toward the assembled bioprinter to move the assembled bioprinter to the damaged area inside the patient. The program instructions also include instructions for printing a first biological structure onto the damaged area inside the patient via the assembled bioprinter, at least partially based on changing the one or more external magnetic fields guided toward the assembled bioprinter, wherein the one or more external magnetic fields are sequentially changed to progressively move the assembled bioprinter along at least one plane. Attached Figure Description

[0007] Figure 1 This is a functional block diagram illustrating a computing environment suitable for the operation of a bioprinting program 101 according to at least one embodiment of the present invention, the computing environment being generally designated as 100.

[0008] Figure 2 An exemplary configuration of a magnetic field generator according to at least one embodiment of the present invention is shown, the magnetic field generator being generally designated as 200, for assembling a bioprinter and a cartridge capsule into an assembled bioprinter and performing bioprinting inside the human body.

[0009] Figure 3 An exemplary configuration of a magnetic field generator according to at least one embodiment of the present invention is shown, the magnetic field generator being generally designated as 300, for assembling a bioprinter and a cartridge capsule into an assembled bioprinter and performing bioprinting inside the human body.

[0010] Figure 4 This is a flowchart depicting the operational steps performed by a bioprinting program 101 according to at least one embodiment of the present invention, the operational steps being used to assemble an assembled bioprinter and perform bioprinting inside the human body.

[0011] Figure 5This is a flowchart depicting the operational steps of a bioprinter for assembly performed by a bioprinting program 101 according to at least one embodiment of the present invention.

[0012] Figure 6 It is a flowchart depicting the operational steps of a bioprinting program 101 for performing bioprinting according to at least one embodiment of the present invention.

[0013] Figure 7 This is a block diagram depicting components of a computing device suitable for executing a bioprinting program 101 according to at least one embodiment of the present invention, the computing device being generally designated as 700. Detailed Implementation

[0014] With the increasing sophistication and innovation of 3D printing technology, the ability to utilize the fundamental yet effective technological principles of 3D printing across numerous scientific and engineering disciplines has become a key focus. One such discipline is bioprinting. Instead of the traditional inks or filaments associated with 3D printing, bioprinters use a combination of biomaterials and growth factors to create tissue-like structures layer by layer. Examples of biomaterials can include, but are not limited to, cells derived from adult stem cells or donor cells, a variety of biomolecules, and other biocompatible polymers and synthetic compounds designed to biomimic various tissues or cells commonly found in humans or animals. As a result, bioprinters are able to print complex biological structures designed to function like living tissue. These printed biological structures can be used to perform more accurate drug testing or as replacement parts for transplanting printed biological structures onto living organisms. Currently, bioprinter technology allows for the printing of skin, bone, cornea, and other complex vascularized tissues.

[0015] Typically, like all 3D printers, bioprinters receive specific instructions for printing 3D biological structures. These instructions provide complex information for each layer of the 3D biological structure. This information includes not only the length and width of the area to be printed, but also the height of each layer (if more than one type of biomaterial is needed to complete each layer), the specific location of each layer (where each type of biomaterial should be printed), and several other parameters that may be necessary to build more complex biological structures. Traditionally, bioprinters initially print multiple layers from a first material, such as a hydrogel, which serves as a base for the attachment of the biomaterial. Hydrogels or similar materials can be used to support the biological structure throughout the different layers of the printing process and can be removed or dissolved after bioprinting is complete. After the base is established, the bioprinter begins printing the actual biological structure layer by layer. Each layer can include more than one type of biomaterial. For example, when bioprinting capillaries, a layer can include endothelial cells, pericytes, or external supporting cell types, as well as hydrogel to support the endothelial cells opening into the capillary lumen and the outer wall formed by pericytes. Hydrogels or similar materials can be thought of as a type of mold that allows cells to be held in place. Once the required number of layers for capillary formation has been printed, cells grow and mature into tissue within the hydrogel mold. Once mature, the supporting hydrogel mold can be removed, and the resulting functional blood vessels can be used for various medical purposes.

[0016] Embodiments of the present invention recognize several drawbacks of bioprinting. Current bioprinting technologies require printing 3D biological structures in a laboratory environment, and a significant amount of time is needed for cell structure growth and maturation before the 3D biological structure can be implanted into a patient. However, patients may desperately need such implants and may have to endure painful waiting or worsening conditions while the biological structure implant is produced and grown in the laboratory. Alternatively, due to the configuration and size of current bioprinter technology, some areas of the human body that can be bioprinted to provide immediate relief are only accessible through surgical means. Embodiments of the present invention recognize that one area of ​​the human body where bioprinting would be advantageous is the digestive tract. Due to the digestive environment of the digestive system, which is sometimes corrosive, patients often find it difficult to heal damaged areas in a timely manner. Specifically, it has been shown that patients with diabetes not only have a higher incidence of gastric ulcers but also have a longer time to heal them. For persistent and severe ulcers, surgery may be the only option. However, invasive surgery itself may present a variety of potential negative side effects.

[0017] Embodiments of the present invention provide one or more of the features, characteristics, operations, and / or advantages of bioprinting that address the aforementioned deficiencies, and generally include: (i) at least an improvement to the field of bioprinting and (ii) a technical solution to one or more challenges in the field of bioprinting. More specifically, embodiments of the present invention use bioprinting-related methods to improve the performance of healing damaged areas inside the human body, including the digestive tract, providing a comprehensive and non-surgical means for treating patients. The present invention generally includes at least one bioprinter capsule and at least one cassette capsule, each of which is sized to be swallowable, and a computer system having a program configured to connect the bioprinter capsule and the cassette capsule to form a functional bioprinter assembly, guide the bioprinter assembly to a damaged area within the digestive tract, and manipulate the position of the bioprinter assembly relative to the damaged area to ultimately transplant a 3D-printed biological structure onto the damaged area within the digestive tract. In various embodiments of the present invention, the bioprinter capsule and the cassette capsule are magnetically coupled in a predetermined arrangement to form an assembled bioprinter by changing one or more external magnetic fields. Similarly, the assembled bioprinter is guided from its component location to a damaged tissue area within the digestive tract by changing one or more external magnetic fields.

[0018] Once positioned at the area of ​​damaged tissue, the strength and / or direction of the magnetic field are programmed to change to guide the movement of the assembled bioprinter during printing, mimicking the movement of a conventional 3D bioprinter. In some embodiments, the bioprinter generates biological structures comprising two or more different biomaterials. In one embodiment, two or more biomaterials are mixed in a single cassette. In another embodiment, each different biomaterial resides within its respective cassette. In some embodiments, only one biomaterial cassette may be magnetically coupled to the bioprinter cassette. Thus, when the cassette needs to be replaced or a different type of biomaterial is required, the attached cassette is detached, and the subsequently ingested cassette is magnetically coupled to the bioprinter cassette. In other embodiments, more than one biomaterial cassette may be magnetically coupled to the bioprinter cassette simultaneously.

[0019] In various embodiments of the invention, once the printed biological structure has been successfully printed onto the damaged area and / or the bioprinter assembly needs to be disassembled, one or more external magnetic fields are reconfigured to magnetically decouple the bioprinter capsule and the cassette capsule. The disassembled unit (e.g., the bioprinter capsule and cassette capsule) can then be allowed to travel naturally through the digestive tract with the aid of gravity. In embodiments, the magnetically decoupled capsule is magnetically guided through the digestive tract by programmably controlling one or more external magnetic fields.

[0020] Therefore, embodiments of the present invention provide a novel system and method for treating damaged areas within the human body, more specifically, within the digestive tract. The embodiments described below also provide non-surgical treatment for patients with digestive tract damage that will reduce pain, aid healing, and eliminate the need for expensive medications and / or surgery, while ensuring the patient's health is not further negatively affected.

[0021] This invention can be a system, method, and / or computer program product at any possible level of technical detail integration. The computer program product may include a computer-readable storage medium (or media) having computer-readable program instructions thereon for causing a processor to perform aspects of the invention.

[0022] Computer-readable storage media can be tangible devices capable of retaining and storing instructions for use by an instruction execution device. Computer-readable storage media can be, for example, but not limited to, electronic storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any suitable combination of the foregoing. A non-exhaustive list of more specific examples of computer-readable storage media includes the following: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable optical disc read-only memory (CD-ROM), digital multifunction disc (DVD), memory sticks, floppy disks, mechanical encoding devices such as punch cards or raised structures in recesses on which instructions are recorded, and any suitable combination of the foregoing. As used herein, computer-readable storage media should not be construed as transient signals themselves, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., light pulses through fiber optic cables), or electrical signals transmitted through wires.

[0023] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to a suitable computing / processing device, or via a network, such as the Internet, a local area network (LAN), a wide area network (WAN), and / or a wireless network, to an external computer or external storage device. The network may include copper cables, optical fibers, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to a computer-readable storage medium within the respective computing / processing device.

[0024] Computer-readable program instructions for performing the operations of this invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​(such as Smalltalk, C++, etc.) and conventional procedural programming languages ​​(such as the "C" programming language or similar programming languages). The computer-readable program instructions may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the latter case, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, to perform aspects of this invention, electronic circuits, including, for example, programmable logic circuits, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), may execute computer-readable program instructions to personalize the electronic circuits by utilizing state information from the computer-readable program instructions.

[0025] Various aspects of the present invention are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-readable program instructions.

[0026] These computer-readable program instructions may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a method for implementing the functions / actions specified in one or more blocks of a flowchart and / or block diagram. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and / or other device to operate in a particular manner, such that the computer-readable storage medium in which the instructions are stored includes an article of writing comprising instructions for implementing aspects of the functions / actions specified in one or more blocks of a flowchart and / or block diagram.

[0027] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer-implemented process, such that the instructions, which execute on the computer, other programmable apparatus or other device, perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0028] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of instructions comprising one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions mentioned in the blocks may occur in a different order than those shown in the figures. For example, two blocks shown consecutively may actually be executed substantially simultaneously, or these blocks may sometimes be executed in reverse order, depending on the functions involved. It will also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented by a dedicated hardware-based system that performs the specified function or action or executes a combination of dedicated hardware and computer instructions.

[0029] Various embodiments of the invention have been described for illustrative purposes, but are not intended to be exhaustive or limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope of the described embodiments. The terminology used herein has been chosen to best explain the principles of the embodiments, their practical application, or improvements to existing technologies on the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

[0030] The invention will now be described in detail with reference to the accompanying drawings. Figure 1 This is a functional block diagram of a computational environment for bioprinting biological structures inside the gastrointestinal tract according to at least one embodiment of the present invention, wherein the computational environment is generally designated as 100. Figure 1 The illustrations provided represent only one implementation and do not imply any limitation on the environments in which different embodiments may be implemented. Many modifications to the environments can be made by those skilled in the art without departing from the scope of the invention as set forth in the claims. Furthermore, it should be understood that embodiments of the invention are not limited to the gastrointestinal tract and can be practiced in any internal location of the human body where bioprinting of biological structures may be desired.

[0031] The computing environment 100 includes a computer system 110 interconnected via a network 150, bioprinter capsules 120A-120N, cassette capsules 130A-130N, and a database 140. The network 150 can be, for example, a telecommunications network, a local area network (LAN), a wide area network (WAN) such as the Internet, or a combination of these, and can include wired, wireless, or fiber optic connections. The network can include one or more wired and / or wireless networks capable of receiving and transmitting data, voice, and / or video signals, including multimedia signals comprising voice, data, and video information. Typically, the network can be any combination of connections and protocols supporting communication between the computer system 110, including the bioprinting program 101 and the magnetic field generator 102, the bioprinter capsules 120A-120N, the cassette capsules 130A-130N, the database 140, and other computing devices (not shown) within the computing environment 100.

[0032] In various embodiments of the invention, computer system 110 may be a laptop computer, tablet computer, netbook computer, personal computer (PC), desktop computer, personal digital assistant (PDA), smartphone, or any programmable electronic device capable of receiving, sending, and processing data. In some embodiments, computer system may be a standalone device, management server, web server, mobile device, or any other electronic device or computing system capable of receiving, sending, and processing data. In other embodiments, computer system 110 may utilize multiple computers as a server system to present a server computing system, such as in a cloud computing environment. In embodiments, computer system 110 may represent a computing system utilizing a cluster of computers and components (e.g., database server computers, application server computers, etc.) that act as a single seamless resource pool when accessed within computing environment 100. Typically, computer system 110 may represent any programmable electronic device or combination of programmable electronic devices capable of executing machine-readable program instructions and communicating via a network such as network 150 with bioprinting program 101, magnetic field generator 102, bioprinter capsules 120A-120N, cassette capsules 130A-130N, database 140, and other devices (not shown). The computer system 110, magnetic field generator 102, bioprinter capsules 120A-120N, cassette capsules 130A-130N, and database 140 may include internal and external hardware components, such as those mentioned above. Figure 7 Further detailed description and depiction.

[0033] Computer system 110 includes a bioprinting program 101 and a magnetic field generator 102. Although the magnetic field generator 102 is... Figure 1While depicted as integrated with computer system 110, in alternative embodiments, the magnetic field generator 102 is located remotely relative to computer system 110. As used herein, the magnetic field generator 102 should generally be understood as any device or interconnect capable of generating a magnetic field to levitate, suspend, and / or move an object (e.g., a bioprinter capsule, a cassette capsule, or an assembled bioprinter located within the human body). The magnetic field generator 102 may include any arrangement of magnetic materials, including but not limited to one or more of the following: permanent magnets, temporary magnets such as magnets formed of paramagnetic or diamagnetic materials, and electromagnets that can be programmed and / or controlled by bioprinting program 101. In embodiments, bioprinting program 101 provides instructions to the magnetic field generator 102 that cause the physical arrangement of the magnets to be altered. For example, instructions to move the position of one or more magnets to guide an object, such as a bioprinter capsule, to a damaged area within the gastrointestinal tract. In another example, instructions to move the position of one or more permanent magnets toward or away from a cassette capsule, thereby altering the strength of the magnetic field acting on an object, such as a cassette capsule. In another example, instructions are used to physically move magnetic material or angle magnetic material to change how the magnetic field interacts with an object. In yet another example, new magnetic material is physically introduced into magnetic field generator 102 to change the magnetic field acting on an object such as a bioprinter cartridge.

[0034] In some embodiments, the magnetic field generator 102 primarily consists of electromagnets. The electromagnets generate a magnetic field only when current is applied to the electromagnetic circuit. In an embodiment, the bioprinting program 101 provides instructions to the magnetic field generator 102, causing the current applied to the electromagnetic circuit to be altered. In other words, the bioprinting program 101 can control the current applied to the electromagnetic circuit. For example, the bioprinting program 101 can provide instructions including, but not limited to: (i) turning the current applied to the electromagnetic circuit on and off at specific times; (ii) increasing or decreasing the current applied to the electromagnetic circuit to increase or decrease the magnetic field strength, respectively; (iii) fluctuating (i.e., increasing and decreasing) the magnetic field strength of each electromagnet at specific times during bioprinter assembly and / or the bioprinting process; (iv) reversing the polarity of the electromagnets; and / or (v) changing the polarity of the electromagnets at specific times during bioprinter assembly and / or the bioprinting process.

[0035] In some embodiments, the magnetic field generator 102 is a separate tubular device surrounding the patient's body (e.g., similar to a magnetic resonance imaging (MRI) device). In other embodiments, the magnetic field generator 102 is a wearable device, such as a band or strip having a plurality of magnets and / or electromagnets built into the wearable device. In some embodiments, the magnetic field generator 102 is at least partially a handheld rod or probe (e.g., structurally similar to a transducer probe of an ultrasound machine) comprising one or more magnets and / or electromagnets that can be pointed at a specific location on the patient's body. Additionally, while some embodiments of the magnetic field generator 102 extend at least the length of the patient's body, other embodiments may extend less than the patient's body (e.g., limited to the affected area of ​​the patient).

[0036] In various embodiments of the invention, each of the bioprinter capsules 120A-120N (hereinafter generally referred to as bioprinter capsule 120 unless clearly stated when referring to more than one bioprinter capsule) includes at least one magnetic signature 124A-124N, at least one capsule camera 125A-125N, at least one capsule sensor 126A-126N, and at least one interlocking surface 127A-127N (hereinafter generally referred to as magnetic signature 124, capsule camera 125, capsule sensor 126, and interlocking surface 127, respectively, unless clearly stated when referring to more than one bioprinter capsule 120). However, it should be understood that the bioprinter capsules 120A-120N may include more or fewer components than those listed above, depending on the specific requirements of the bioprinter design. For example, in some embodiments, the bioprinter capsule 120 may not need to include camera 125 and / or sensor 126.

[0037] In some embodiments, a single bioprinter capsule includes all the functional units that form a conventional bioprinter. In other embodiments, multiple bioprinter capsules are assembled to form a fully functional bioprinter assembly, each bioprinter capsule having a separate, distinct functional unit (e.g., a generator or battery, bioprinter hardware and / or software components, and a washer / finisher). For example, in one embodiment, three bioprinter capsules—bioprinter capsule 120A, bioprinter capsule 120B, and bioprinter capsule 120C—are used to assemble a functional bioprinter. In this exemplary embodiment, bioprinter capsule 120A includes a battery, bioprinter capsule 120B includes a first portion of the bioprinter assembly, such as a printhead or extruder, and bioprinter capsule 120C includes a second portion of the bioprinter assembly, such as a washer / finisher (i.e., a device for smoothing rough or irregular edges or surfaces). While the above examples include three bioprinter capsules 120A, 120B, and 120C, the functional units and / or functional unit sub-components that form the bioprinter of the present invention can be packaged in a single bioprinter capsule, two or more bioprinter capsules, or any combination thereof, depending on the specific application to be applied.

[0038] For clarity and illustration, while the various embodiments disclosed throughout generally refer to the functional units of the bioprinter being encapsulated in a single bioprinter capsule 120, as described above, any number of bioprinter capsules 120A-120N can be used to form a functional bioprinter assembly. Factors that can influence the number of bioprinter capsules 120A-120N used include, but are not limited to, the patient's ability to swallow capsules of a specific size, the complexity of the 3D biological structure to be printed, and the 3D biological structure itself. For example, if a damaged area of ​​the digestive tract requires complex bioprinting techniques, different internal bioprinting components may be needed to appropriately print different biological structures, and as a result, these can be accommodated within additional bioprinter capsules 120A-120N.

[0039] In various embodiments of the invention, the magnetic signature 124 indicates how the bioprinter capsule 120 will behave when introduced into a magnetic field. In some embodiments, the magnetic signature 124 is a pre-designed component that enables the bioprinting process 101 to control and / or orient the bioprinter capsule 120 at least in part based on changing at least one of the directions and / or intensities of one or more external magnetic fields. The magnetic signature 124 may be incorporated into the bioprinter capsule 120 at least in part based on one or more of the following: (i) a single magnetic component uniformly positioned or concentrated at a single location on the bioprinter capsule 120; (ii) the distribution of multiple magnetic components at predetermined locations inside and / or outside the bioprinter capsule 120; (iii) the shape of the bioprinter capsule 120 itself; and (iv) the density distribution of the bioprinter capsule 120.

[0040] In various embodiments of the present invention, the magnetic components forming the magnetic signature 124 may include, but are not limited to, permanent magnets, paramagnetic materials, diamagnetic materials, and electromagnets. Furthermore, in addition to controlling the current applied to the electromagnet of the magnetic field generator 102, the bioprinting program 101 may also provide instructions for controlling the current applied to the electromagnet forming the magnetic signature of the bioprinter capsule 120.

[0041] In embodiments having more than one bioprinter capsule 120, each respective bioprinter capsule 120A-120N for forming a functional assembly of the bioprinter may have the same or different magnetic signatures 124A-124N. In embodiments, each bioprinter capsule 120A-120N for forming a functional assembly of the bioprinter has the same magnetic signature 134A-134N. Therefore, when introduced into a specific magnetic field, each bioprinter capsule 120A-120N will react in the same manner (e.g., self-orientation and / or movement). In embodiments, each bioprinter capsule 120A-120N for forming an assembly of the bioprinter has a different magnetic signature 134A-134N. Therefore, when introduced into a specific magnetic field, each bioprinter capsule 120A-120N will react in a different manner (e.g., self-orientation and / or movement). In embodiments, each bioprinter capsule 120A-120N has multiple magnetic signatures. In an exemplary embodiment, a first bioprinter capsule 120A and a second bioprinter capsule 120B are used to form an assembled bioprinter. In this exemplary embodiment, each of the bioprinter capsules 120A and 120B has at least two components forming magnetic signatures 134A and 134B for each capsule, respectively. For example, the bioprinter capsules 120A and 120B may have the same permanent magnet components, but the bioprinter capsule 120A has a lower density and / or mass than the bioprinter capsule 120B. Therefore, when the bioprinter capsules 120A and 120B are introduced into the same magnetic field (such as a magnetic field provided by the magnetic field generator 102), the bioprinter capsules 120A and 120B will float or suspend at specific, different locations. However, due to the additional density or mass of the bioprinter capsule 120B compared to the lower density or mass of the bioprinter capsule 120A, the bioprinter capsule 120B will be oriented lower than the bioprinter capsule 120A. In other embodiments, each bioprinter capsule 120 has a different and unique magnetic signature 134, which enables each bioprinter capsule 120A-120N to be individually manipulated and controlled by the bioprinting program 101.

[0042] In various embodiments of the invention, the bioprinter capsule 120 may include one or more capsule cameras 125 oriented at different locations around the bioprinter capsule 120 to provide different perspectives of the digestive tract and the bioprinting process. The capsule cameras 125 capture image data, such as live video, photographs, or diagnostic image data of the digestive tract and / or the bioprinting process. In embodiments where the bioprinter assembly is formed from more than one bioprinter capsule 120A-120N, the capsule cameras 125-125N may be located on any number of bioprinter capsules 120A-120N.

[0043] In various embodiments of the invention, each of the bioprinter capsules 120A-120N may further include any number of capsule sensors. Capsule sensors 126A-126N may be a single type of sensor, or any combination of sensors of types known to those skilled in the art. For example, the type of sensor may include, but is not limited to, biosensors capable of sensing damaged areas using biomarkers, position sensors capable of determining the location of bioprinter capsule 120 or the position of bioprinter capsule relative to other additional bioprinter capsules 120A-120N, and magnetic sensors (e.g., Hall sensors) capable of determining the location of bioprinter capsules 120A-120N based on interactions in a magnetic field. In embodiments having more than one bioprinter capsule 120A-120N, each of the capsule sensors 126A-126N may include the same sensor type, different sensor types, or any possible combination thereof. Capsule sensors 126A-N are capable of transmitting sensor data to the bioprinting program 101 via a network such as network 150.

[0044] Bioprinter capsules 120A-120N each include interlocking surfaces 127A-127N. Interlocking surfaces 127A-127N are configured to attach to, connect to, or interlock with any number of other additional bioprinter capsules 120A-120N and / or any number of cartridge capsules 130A-130N. Each of the bioprinter capsules 120A-120N may include any number of interlocking surfaces, which may be located on any portion of the bioprinter capsule. Connecting bioprinter capsules to each other, connecting bioprinter capsules to cartridge capsules, and connecting bioprinter capsules to each other allows the bioprinter capsules 120A-120N to accommodate different bioprinter functional units, and the cartridge capsules to accommodate different biomaterials, to form a unified, functionally assembled bioprinter.

[0045] In some embodiments, the interlocking surface 127 may be specifically shaped such that docking is possible between bioprinter capsules 120A-120N and / or cartridge capsules 130A-130N during bioprinter assembly. For example, the interlocking surfaces 127A-127N may include any number of configurations for connecting the bioprinter capsule to another bioprinter capsule and / or cartridge capsule, including but not limited to: (i) concave surfaces for preventing displacement between two interconnected bioprinter capsules and facilitating the connection of two individual bioprinter capsules; (ii) male / female physical connection; (iii) electromagnetic circuitry; and (iv) attractive and repulsive magnetic forces.

[0046] In some embodiments, the interlocking surfaces 127A-127N may further include coupling elements 128A-128N, and / or at least one channel 129A-129N, respectively. The coupling elements 128A-128N and channels 129A-129N are generally referred to hereinafter as coupling element 128 and channel 129, respectively, unless clearly stated when referring to more than one bioprinter capsule.

[0047] In some embodiments, coupling members 128 are oriented within interlocking surfaces and allow each bioprinter capsule 120A-120N and / or each cartridge capsule 130A-130N to connect and / or lock to each other. In various embodiments, coupling members 128 may be further configured in any number of ways to enable bioprinter capsules 120A-120N and / or cartridge capsules 130A-130N to connect. This configuration of coupling members 128 may include, but is not limited to, magnetic material components, electromagnetic circuits, and / or locking circuits. In an exemplary embodiment having two bioprinter capsules 120A and 120B that need to be connected or interlocked, the respective interlocking surfaces 127A and 127B are shaped in a manner that causes alignment of coupling members 128A and 128B. Once coupling members 128A and 128B are aligned, bioprinting procedure 101 may cause locking circuitry on each coupling member to lock bioprinter capsule 120A to capsule 120B.

[0048] In another exemplary embodiment, bioprinter capsule 120A has two interlocking surfaces—127A1 and 127A2, and bioprinter capsule 120B has two interlocking surfaces—127B1 and 127B2. Each of the interlocking surfaces 127A1, 127A2, 127B1, and 127B2 includes coupling members 128A1, 128A2, 128B1, and 128B2, respectively. Continuing with this exemplary embodiment, bioprinter capsules 120A and 120B and their respective members are configured to be aligned in parallel with the interlocking surfaces oriented on the sides rather than the ends of the capsule. While interlocking surface 127A1 can be shaped to cause alignment with interlocking surface 127B1, and interlocking surface 127A2 can be shaped to cause alignment with interlocking surface 127B2 to prevent misalignment (e.g., interlocking surface 127A1 aligned with interlocking surface 127B2, and interlocking surface 127A2 aligned with interlocking surface 127B1), coupling members 128A1, 128A2, 128B1, and 128B2 can be configured to generate a positive or negative magnetic field that will counteract misalignment and attract the coupling members to align correctly. When correctly aligned, coupling members 128A1, 128A2, 128B1, and 128B2 are connected and / or locked. Bioprinter capsules 120A-120N may have the same coupling members 128A-128N, different coupling members, or any conceivable combination thereof.

[0049] In some embodiments, coupling member 128 is configured to share power and / or transmit electrical signals from one bioprinter capsule to another. For example, coupling member 128 allows power to be transferred between connected bioprinter capsules. In another example, coupling member 128 allows computer-readable program instructions to be transmitted between connected bioprinter capsules. In yet another example, coupling member allows electrical signals including data to be transmitted between connected bioprinter capsules. It should be understood that bioprinter capsules do not need to be directly physically or electrically connected to another bioprinter capsule to transmit electrical signals. For example, if bioprinter capsule 120A is connected to bioprinter capsule 120B, and bioprinter capsule 120B is connected to bioprinter capsule 120C, then bioprinter capsule 120A can transmit power to bioprinter capsule 120C via bioprinter capsule 120B. In some embodiments, coupling member 128 may be further configured to provide structural support for the assembled bioprinter, ensuring that the assembled bioprinter structure is stable and able to maintain its designed structure during the bioprinting process.

[0050] In some embodiments, the interlocking surface 127 includes only the coupling member 128, but in other embodiments, the interlocking surface includes both the coupling member 128 and the channel 129. The channel 129 is a tubular passage connecting to other channels on other bioprinter capsules. The channel 129 may be configured to send or receive physical material between two bioprinter capsules, between two cartridge capsules, or between a bioprinter capsule and a cartridge capsule. The coupling member 128 surrounds the channel 129 to ensure that no material is lost or the flow of material is interrupted when passing between the channels of the interconnected capsules. In other embodiments, the coupling member may be positioned separately from the channel 129, and the channel 129 is configured to ensure that no material flow is interrupted or lost. Some embodiments may be implemented in which the interlocking surface 127 may include multiple channels 129, allowing different materials to flow through different channels 129. Channel 129 can be further configured to control the flow of material from bioprinter capsule 120 to bioprinter capsules 120A-120N and / or to cassette capsules 130A-130N by design or by instructions provided by bioprinting program 101.

[0051] In various embodiments of the invention, the cassette capsules 130A-130N (hereinafter generally referred to as cassette capsule 130 unless clearly stated when referring to more than one bioprinter capsule) include at least one cassette magnetic signature 134A-134N, at least one cassette camera 135A-135N, at least one cassette sensor 136A-136N, and at least one interlocking surface 137A-137N (hereinafter generally referred to as cassette magnetic signature, cassette camera 135, cassette sensor 136, and interlocking surface 137, respectively, unless clearly stated when referring to more than one cassette capsule 130). The capsule magnetic signature 134A-134N, capsule camera 135A-135N, capsule sensor 136A-136N, and interlocking surface 137A-137N are structurally and functionally similar to the capsule magnetic signature 124A-124N, capsule camera 125A-125N, capsule sensor 126A-126N, and interlocking surface 127A-127 of the bioprinter capsule 120A-120N.

[0052] In various embodiments, cassettes 130A-130N are configured to contain and supply biological material to a bioprinter capsule 120 for printing layers of biological structures. For example, the biological material is transferred from cassette 130 to bioprinter capsule 120 via channel 139. In embodiments, the flow rate of the biological material transferred from cassette 130 to bioprinter capsule 120 is programmably controlled. In embodiments, the flow rate of the biological material transferred from cassette 130 to bioprinter capsule 120 is programmably controlled by bioprinting program 101. In embodiments, the biological material is passively transferred from cassette 130 to bioprinter capsule 120 based on pressure and diffusion from high to low concentration. In embodiments, when introduced into a specific magnetic field, cassette 130 and / or bioprinter capsule 120 release the biological material at controlled intervals using microfluidic principles. In one embodiment, a bioprinter capsule 120 coupled to at least one cassette capsule 130 can be configured such that biological material is deposited directly from the cassette capsule 130 (without first being transferred to the bioprinter capsule 120) to form one or more layers of a biological structure. In such an embodiment, the bioprinter capsule 120 can be configured to control movement and provide power to the cassette capsule 130 as instructed by the bioprinting program 101.

[0053] Database 140 is a storage device capable of storing any type of data in structured or unstructured formats. Database 140 includes bioprinter designs 142 and biological structure designs 146, accessible by bioprinting program 101 to assemble various assembled bioprinters and print various biological structures, respectively. As used herein, bioprinter design 142 can generally be understood as a document containing instructions on how to assemble a specific bioprinter having at least one bioprinter capsule 120A-120N and at least one cartridge capsule 130A-130N. Each bioprinter design 142 corresponds to readily available bioprinter capsules 120A-120N and cartridge capsules 130A-130N, which can be connected to form an assembled bioprinter. Bioprinter design 142 also includes pre-considered bioprinter designs that include compatible combinations of bioprinter and cartridge capsule components. For example, a bioprinter capsule 120A with a first magnetic signature can be connected to a cartridge capsule 130A with a different second magnetic signature, since the first and second magnetic signatures are compatible with each other. In other words, when connected, the magnetic signatures of bioprinter capsules 120A and 130A will not negatively interfere with the assembly of the bioprinter or its movement during printing.

[0054] In some embodiments, a particular bioprinter design is selected based at least in part on the complexity of the biological structure to be printed and the patient’s ability to swallow. Patients with difficulty swallowing capsules may be recommended a bioprinter design 142 with a smaller ingestible bioprinter and cartridge capsules 120 and 130 or a bioprinter assembly requiring fewer parts.

[0055] In some embodiments, a bioprinter design 142 is retrieved from database 140 and loaded into the memory of the bioprinter capsule 120. In other embodiments, the bioprinter design 142 is retrieved from database 140 and loaded into the memory on computer system 110. In embodiments, the bioprinting program 101 selects one or more bioprinter designs 142 based on a patient diagnostic data report. For example, based on the diagnostic data report, the bioprinting program 101 selects a specific bioprinter design based on identifying specific information in the diagnostic report associated with a damaged area of ​​the digestive tract, such as the cause of the damage, and the physical structure of the damaged area, such as whether the damaged area has irregular edges or protrusions. In embodiments, the bioprinter design 142 is pre-selected by a user or system administrator (e.g., a medical professional or technician).

[0056] Biostructure Design 146 provides a variety of printable biostructures designed to correct damaged regions of the digestive tract. Biostructure Design 146 includes a set of instructions (similar to an STL file used in 3D printing) for printing each layer of a specific biostructure. Examples of guidance included in the biostructure design include, but are not limited to: (i) what biomaterials should be used to print a particular layer (e.g., hydrogels, mesh materials, synthetic materials designed to biomimic biological parts, and various cell types (e.g., stem cells and / or donor cells); (ii) the patient's internal location where the biomaterial should be printed or otherwise applied; (iii) the x, y, and z coordinates for printing each layer; and (iv) the total number of layers of the biostructure. It should be understood that each biostructure design 146 can vary in complexity, ranging from complex vascular biostructures to simple printing or spraying of one or more layers of biomaterial.

[0057] Figure 2 An exemplary magnetic field generator, generally designated 200, according to at least one embodiment of the present invention, is depicted for assembling a bioprinter and a cartridge capsule into an assembled bioprinter and performing bioprinting inside the human body. Figure 2 This illustration provides only one possible implementation and does not imply any limitation on the environments in which different embodiments may be implemented. Those skilled in the art can make numerous modifications to the depicted environment without departing from the scope of the invention as set forth in the claims.

[0058] like Figure 2 As depicted, the magnetic field generator 200 includes a bottom magnet 210, a top magnet 220, a container 230, and a capsule 240. The bottom magnet 210 and top magnet 220 may comprise a single type of magnetic material or an array of magnetic materials programmable by the bioprinting procedure 101. The container 230 is a simplified illustration representing a region of the patient's digestive tract, such as the stomach. While the container 230 may generally be referred to herein as the stomach, it may represent any region of the digestive tract or an internal region requiring bioprinting. Figure 2 As depicted, capsule 240 may represent bioprinter capsule 120, cartridge capsule 130, and / or bioprinter components.

[0059] Bottom magnet 210 and top magnet 220 are configured to create a "push-pull" or "reverse-attraction" effect on the magnetic signature of capsule 240. For example, bottom magnet 210 is configured to emit or generate a positive (i.e., north) magnetic field (indicated by the letter "N") and top magnet 220 is configured to generate a negative (i.e., south) magnetic field (indicated by the letter "S"). Thus, if the magnetic signature of capsule 240 has a predominantly positive magnetic component, the positive magnetic field of bottom magnet 210 will be opposite to the predominantly positive nature of the magnetic signature of capsule 240, thereby pushing capsule 240 in the opposite direction. When the opposing magnetic force generated by bottom magnet 210 combines with the attractive force generated by top magnet 220 pulling capsule 240, capsule 240 eventually suspends within container 230. It should be understood that magnetic field generator 200 effectively reduces the effect of gravity on capsule 240 and allows capsule 240 to remain suspended and / or float relative to container 230 within a predetermined range. Here, the predetermined range is determined by a specific magnetic field acting on a specific magnetic signature of capsule 240.

[0060] In various embodiments, the magnetic signature of capsule 240 is configured to establish a specific predetermined orientation within container 230 when subjected to one or more external magnetic fields generated by bottom magnet 210 and top magnet 220, respectively. In one embodiment, the magnetic signature is pre-designed based on the density distribution of capsule 240 to orient capsule 240 at a specific location (e.g., 45 degrees) within the patient. In another embodiment, the magnetic signature of capsule 240 includes both a magnetic component and a density distribution that directly interacts with the external magnetic fields generated by bottom magnet 210 and top magnet 220, respectively, to suspend / levitate capsule 240 within a predetermined range within container 230. For example, left side 240B may contain a material with a higher density than the material contained in right side 240A. Due to the mass and density distribution between right side 240A and left side 240B, capsule 240 is oriented at 45 degrees when subjected to the external magnetic fields generated by bottom magnet 220 and top magnet 240.

[0061] In this embodiment, the magnetic signature of capsule 240 includes a magnetic distribution. This magnetic distribution utilizes electromagnetic circuitry or other magnetic materials to generate a specific magnetic field in a predetermined area and magnetism across capsule 240. The magnetic field and the magnetism generated by the magnetic field distribution interact with the magnetic field generated by magnetic field generator 200 to give capsule 240 a specific orientation when suspended / floating within a predetermined area of ​​container 230. For example, based on its magnetic distribution, the magnetic signature is pre-designed to orient capsule 240 in a specific orientation (e.g., 45 degrees) within the patient's body. In this example, a magnetic component or electromagnetic circuit is configured on the left side 240B of capsule 240 to weakly oppose the magnetic field of bottom magnet 210, and a magnetic component or electromagnetic circuit is configured on the right side 240A of capsule 240 to be strongly attracted to top magnet 220.

[0062] Although Figure 2 Only one capsule 240 is shown, but it should be understood that bioprinter capsules 120A-120N and cartridge capsules 130A-130N can each have a unique magnetic signature 134, which allows each capsule to be independently controlled by the bioprinting program 101. Furthermore, although as... Figure 2 The bottom magnet 210 and top magnet 220 shown are described as having a positive magnetic field and a negative magnetic field that create a pushing / reverse force and a pulling / attracting force, respectively, on the magnetic signature of the capsule 240. However, it should be understood that the negative magnetic field can be oriented to act as a pushing / reverse force, and the negative magnetic field can be oriented to act as a pulling / attracting force.

[0063] Figure 3 An exemplary magnetic field generator, generally designated 300, according to at least one embodiment of the invention, is depicted, adapted for internal orientation of two capsules within a human body. Figure 3 The illustrations provided are merely one example of an implementation and do not imply any limitation on the environments in which different embodiments may be implemented. Those skilled in the art can make numerous modifications to the described environments without departing from the scope of the invention as set forth in the claims.

[0064] like Figure 3As shown, the magnetic field generator 300 includes a bottom magnet 310, a top magnet 320, a container 330, a first capsule 340, and a second capsule 350. The bottom magnet 310 and the top magnet 320 may include a single type of magnet or an array of magnet types (e.g., one or more permanent magnets, one or more electromagnets, or any combination thereof) that can be programmably controlled by the bioprinting program 101. The container 330 is a simplified illustration representing a region of the patient's digestive tract, such as the stomach. While the container 330 may generally be referred to herein as the stomach, the container may represent any region of the digestive tract or an internal region requiring bioprinting. The first capsule 340 and the second capsule 350 may represent the bioprinter capsule 120, the cassette capsule 130, the bioprinter assembly, and / or any possible combination thereof.

[0065] like Figure 3 As shown, the stomach or container 330 is filled with a paramagnetic material. In an embodiment, the container 330 is submerged during the assembly and / or printing process. In an embodiment, the container 330 is submerged only for the bioprinter assembly or the bioprinting process. It should be understood that by filling the container 330 with a paramagnetic material, capsules 340 and 350 do not need to have a magnetic signature formed by complex electromagnetic circuits or magnetic components specifically distributed throughout capsules 340 and 350. However, it should be noted that when the container 330 is submerged with a paramagnetic material, electromagnetic circuits and / or magnetic components can be used to form corresponding magnetic signatures for capsules 340 and 350. It should also be understood that, although not discussed herein, the container 330 may alternatively be submerged with a diamagnetic material. Similarly, capsules 340 and 350 may alternatively have a magnetic signature formed at least in part based on a paramagnetic material.

[0066] Those skilled in the art will understand that paramagnetic materials possess unpaired electrons that are attracted by an applied magnetic field and can be found in gaseous or liquid solutions. When an external magnetic field is applied, a magnetic field is induced in the paramagnetic material in the same direction as the applied external magnetic field. Available paramagnetic materials can include any known gaseous and / or liquid solutions that are considered non-toxic and biocompatible. It should be understood that, in addition to increasing the strength of the magnetic field, the use of liquid paramagnetic materials also allows for the use of heavier capsules when combined with the general density principle in conjunction with a specific configuration of the capsule's magnetic signature. Similarly, the use of liquid paramagnetic materials also allows for the use of magnets or magnetic materials with weaker magnetic fields for assembly and bioprinting according to various embodiments of the invention.

[0067] like Figure 3 As further depicted, the bottom magnet 310, oriented below the container 330, and the top magnet 320, oriented above the container 330, are configured to emit or generate positive magnetic fields (positive magnetic fields are indicated by the letter "N," and negative magnetic fields by the letter "S") pointing towards the container 330. Although Figure 3 Bottom magnet 310 and top magnet 320 are depicted as positive magnetic fields, but bottom and top magnets 310 and 320 only need to point to the same magnetic poles, with opposite magnetic fields pointing towards container 330. Therefore, in other embodiments, bottom magnet 310 and top magnet 320 can each be configured to direct a negative magnetic field toward container 330. Each of bottom magnet 310 and top magnet 320 can be configured by bioprinting procedure 101 to respectively direct one or more magnetic fields with varying magnetic field strengths toward container 330.

[0068] In some embodiments, capsules 340 and 350 have magnetic signatures including, but not limited to, capsule shape, capsule density distribution, specific arrangement of magnetic components (e.g., any type of magnetic material, such as diamagnetic material), and one or more of electromagnetic circuits. Capsules 340 and 350 may include the same magnetic signature or separate, different magnetic signatures. Figure 3 As shown, capsules 340 and 350 have different magnetic signatures, and therefore different orientations and positions within container 330. In one embodiment, capsules 340 and 350 are positioned and / or oriented within container 330 based on corresponding density components associated with their magnetic signatures. In another embodiment, capsules 340 and 350 are positioned and / or oriented within container 330 based on corresponding shapes associated with their magnetic signatures. For example, a capsule with a triangular shape may orient itself within a paramagnetic material differently than the same capsule with an elliptical shape.

[0069] In an embodiment, capsules 340 and 350 are positioned and / or oriented within container 330 based on corresponding diamagnetic materials associated with their magnetic signatures. When an external magnetic field is directed at the diamagnetic material, a magnetic field is induced in the opposite direction to the external magnetic field. When the two identical and opposite magnetic poles of the bottom magnet 310 and top magnet 320, depicted as being directed at capsule 340 or 350 with diamagnetic material as part of its magnetic signature, the orientation and / or position of capsule 340 or 350 can be predetermined based on the magnetic field strength of the bottom magnet 310 and top magnet 320. In an embodiment, the bottom magnet 310 and top magnet 320 are permanent magnets. Here, the position and / or orientation of capsules 340 and 350 with corresponding diamagnetic materials can be changed by altering the position of the bottom magnet 310 and top magnet 320 relative to capsules 340 and 350. In an embodiment, the bottom magnet 310 and top magnet 320 are electromagnets. Here, the position and / or orientation of capsules 340 and 350 with corresponding antimagnetic materials can be changed by altering (increasing or decreasing) the current of the bottom magnet 310 and the top magnet 320 relative to capsules 340 and 350 to change the magnetic field generated by the bottom magnet and the top magnet 320.

[0070] Figure 4 This is a flowchart depicting the operational steps of a bioprinting program 101 according to at least one embodiment of the present invention for assembling a bioprinter and performing bioprinting inside the human body. Figure 4 This illustration provides only one possible implementation and does not imply any limitation on the environments in which different embodiments may be implemented. Those skilled in the art can make many modifications to the described environments without departing from the scope of the invention as set forth in the claims. Additionally, refer to... Figure 1 , Figure 2 and Figure 3 The elements and identifiers discussed can be extended to Figure 4 The references to these preceding figures are provided solely for illustrating similar structures and for clarity. The use of identifiers in these preceding figures should not be construed as limiting substitutions, but rather as references to other embodiments discussed in any of the other figures.

[0071] At step S402, the bioprinting procedure 101 instructs the patient to ingest one or more bioprinter capsules 120A-120N and one or more cartridge capsules 130A-130N. The quantity and type of bioprinter capsules 120A-120N and cartridge capsules 130A-130N are selected according to a predetermined bioprinter design 142 for printing specific 3D biological structures. In some embodiments, the bioprinting procedure 101 instructs the patient to ingest specific bioprinter capsules 120A-120N and cartridge capsules 130A-130N at specific time intervals. This allows the bioprinter to assemble one capsule at a time and can be used to reduce interference between different magnetic signatures of the bioprinter capsules 120A-120N and cartridge capsules 130A-130N when the corresponding bioprinter capsules 120A-120N and cartridge capsules 130A-130N are connected to each other. For example, bioprinter design 142 requires the use of four capsules: bioprinter capsule 120A, bioprinter capsule 120B, bioprinter cartridge 120C, and cartridge capsule 130A. Continuing this example, bioprinter capsules 120A and 120B have been taken in and connected together via their respective interlocking surfaces to form a partially assembled bioprinter. Bioprinter capsule 120C is then taken in and connected to bioprinter capsules 120A and 120B prior to the take-in of cartridge capsule 130A. Thus, the possibility of any interference caused by external magnetic fields acting on the magnetic signatures of the respective bioprinters and / or cartridge capsules is mitigated when assembling the bioprinter capsules and / or cartridge capsules. However, in some embodiments, bioprinter capsules 120A-120N and cartridge capsules 130A-130N can be taken in any order. For example, the respective magnetic signatures of the bioprinter capsules 120A-120N and cassette capsules 130A-130N are pre-designed to be compatible with each other, so as not to interfere in a way that could reduce the effectiveness of magnetically assembling the bioprinter or the bioprinting process.

[0072] At step S404, bioprinting procedure 101 magnetically assembles one or more bioprinter capsules 120A-120N and one or more cartridge capsules 130A-130N to form an assembled bioprinter. Bioprinting procedure 101 configures magnetic field generator 102 to generate a specific magnetic field that is directed toward the bioprinter capsules and / or cartridge capsules, allowing the capsules to suspend / float within a predetermined range or within the patient's body. As discussed in detail above, each of the bioprinter capsules and cartridge capsules has a magnetic signature that interacts with the magnetic field generated by magnetic field generator 102 to reduce the effects of gravity, thereby enabling the capsule to suspend or float. Although referenced... Figure 4 Step S404 has been discussed in general, but reference will be made below. Figure 5Let’s discuss step 406 in more detail.

[0073] At step S406, the bioprinting program 101 magnetically guides the assembled bioprinter to the damaged area of ​​the patient's digestive tract. In some embodiments, at least one of the capsules of the assembled bioprinter, either bioprinter capsule 120 or cartridge capsule 130, includes a capsule camera 125. The capsule camera 125 is capable of capturing image data and transmitting the image data to the bioprinting program 101. In some embodiments, the bioprinting program 101 analyzes the image data to guide the assembled bioprinter to the damaged area of ​​the patient's digestive tract. In some embodiments, the bioprinting program 101 receives data about the location of the damaged area from a system administrator (e.g., a medical professional or technician). Although referenced... Figure 4 Step S406 has been discussed in general, but reference will be made below. Figure 5 Step S406 will be discussed in more detail.

[0074] At step S408, the bioprinting program 101 magnetically guides the assembled bioprinter to print biological structures on the area of ​​damaged digestive tissue. The complexity of the printing process controlled by the bioprinting program 101 ranges from spraying cell layers onto the area of ​​damaged digestive tract to printing complex digestive tissue. In an exemplary embodiment, the bioprinting program 101 controls the printing process of the assembled bioprinter, which is formed by a first bioprinter capsule 120A housing a washer / finisher, a capsule camera 125A interconnected to the bioprinter capsule 120A, a first cartridge capsule 130A, a second cartridge capsule 130B, and other bioprinter components (not shown) that may be necessary for bioprinting. In this exemplary embodiment, if the damaged area of ​​the digestive tissue has irregular edges that can inhibit and / or reduce the effectiveness of printing corrective biological structures, the bioprinting program 101 may guide and instruct the assembled bioprinter to use the washer / finisher functional unit on the assembled bioprinter to remove the irregular edges or debris from the damaged area. It should be noted that in some cases, it is not necessary to scrub the damaged area before printing the first layer onto the damaged area.

[0075] Bioprinting program 101 moves an assembled bioprinter to print a first layer of biomaterial, defined by biostructure design 146, contained within a cassette capsule. Bioprinting program 101 configures a magnetic field generator 102 and one or more associated magnetic fields generated therefrom to induce movement of the assembled bioprinter within a 3D coordinate plane (e.g., the xy plane) defined by biostructure design 146. Bioprinting program 101 alters the magnetic fields to ensure the assembled bioprinter is moved to print biomaterial at specific coordinates. To move the assembled bioprinter to the next coordinate increment, bioprinting program 101 again alters one or more magnetic fields to move the assembled bioprinter to that coordinate location. Bioprinting program 101 receives coordinate instructions from biostructure design 146 specifying how each layer should be printed. Bioprinting program 101 uses this information to determine a series of successive steps, where at each step, one or more magnetic fields are altered in a manner that moves the assembled bioprinter from one increment to the next. For example, bioprinting program 101 alters one or more external magnetic fields in a series of sequential steps to progressively move the assembled bioprinter across the entire xy plane (i.e., the plane including the biostructure layers to be printed).

[0076] In some embodiments, the first layer includes a mesh material that provides support for additional layers and for various substructures of the biological structure. The mesh material may include biocompatible materials, including but not limited to hydrogels, glycogen, and other biomolecules or synthetic components configured to support the printable biological structure. In some embodiments, the bioprinting process 101 receives image data from the capsule camera 125 during the printing of the first layer. In an embodiment, based on the image data captured during printing, the bioprinting process 101 may determine when the printing of the first layer is complete. In an embodiment, the first layer is determined to be complete based on the completion of the first layer of the biological structure design 146. If the bioprinting process 101 determines that the first layer is incomplete, the bioprinting process 101 continues to guide the assembled bioprinter during the printing of the first layer. Printing subsequent layers is completed similarly to printing the first layer. However, if a different material is required to print subsequent layers, the bioprinting process 101 may stop the flow of biological material from one capsule and begin the flow of a second biological material different from that of another capsule. For example, the first cartridge may include specific cell types necessary for printing tissue layers, and the second cartridge may include a drug that can be sprayed onto the damaged area to aid in its healing. (See reference...) Figure 4 Step S408 has been discussed in general, but references will be made to... Figure 5 Step S408 will be discussed in more detail.

[0077] In step S410, after bioprinting is completed, bioprinting program 101 disassembles the assembled bioprinter into individual components.

[0078] Figure 5 This is a flowchart depicting the operational steps for connecting a bioprinter capsule 120 and a cartridge capsule 130 to form an assembled bioprinter according to at least one embodiment of the present invention. Figure 5 This illustration merely provides one possible implementation and does not imply any limitation on the environments in which different embodiments may be implemented. Those skilled in the art can make many modifications to the described environments without departing from the scope of the invention as set forth in the claims. Although Figure 5 Generally involving Figure 2 and Figure 3 The components discussed herein can be used, but any magnetic configuration discussed in reference magnetic field generator 102 can be used. Additionally, reference... Figure 1 , Figure 2 and Figure 3 The components and identifiers discussed can be extended to Figure 5 The references to these preceding figures are provided solely for illustrating similar structures and for clarity. The use of identifiers in these preceding figures should not be construed as limiting substitutions, but rather as references to other embodiments discussed in any of the other figures.

[0079] At step S502, the bioprinting procedure 101 directs one or more external magnetic fields toward the bioprinter capsule 120 and cartridge capsule 130 located inside the patient, so that the bioprinter capsule 120 and cartridge capsule 130 acquire a pre-assembled starting position. The pre-assembled starting position can generally be understood as a specific location and / or orientation of one or more bioprinter capsules 120A-120N, one or more cartridge capsules 130A-130N, and / or any possible combination thereof required to connect the respective bioprinter capsules 120A-120N and the respective cartridge capsules 130A-130 in a specific arrangement. The bioprinter capsules 120 and cartridge capsule 130 are moved into the pre-assembled starting position based at least in part on the interaction of one or more external magnetic fields with a specific magnetic signature of each of the bioprinter capsules 120 and cartridge capsule 130. It should be understood that when introduced into one or more specific magnetic fields, each magnetic signature of the capsule should automatically orient and position the bioprinter capsule 120 and / or cartridge capsule 130. However, due to various reasons (e.g., the strength or direction of the magnetic field), it is possible that the bioprinter capsules 120 and / or cassette capsules 130 may not automatically position and / or orient themselves to the pre-assembled starting position.

[0080] At step 504, the bioprinting program 101 determines whether the bioprinter capsule 120 and the cartridge 130 are at the pre-assembly start position. Here, the bioprinting program 101 compares the positioning and orientation of the bioprinter capsule and the cartridge 130 with predetermined positions and orientations corresponding to the pre-assembly start position, respectively. If the bioprinting program 101 determines that the bioprinter capsule 120 and the cartridge 130 are at the pre-assembly start position (the "Yes" branch of the determination step), the bioprinting program 101 proceeds to step S510, and the bioprinter capsule 120 and the cartridge 130 are connected to form an assembled bioprinter. If the bioprinting program 101 determines that the bioprinter capsule 120 and the cartridge 130 are not at the pre-assembly start position (the "No" branch of the determination step), the bioprinting program 101 proceeds to step S506.

[0081] At step S506, the bioprinting procedure 101 alters one or more external magnetic fields guided toward the bioprinter capsule 120 and / or cartridge 130 to reposition and / or orient the misaligned capsules into a pre-assembly starting position. It should be understood that the bioprinting procedure 101 may alter one or more external magnetic fields in any particular manner as discussed herein to move the bioprinter capsule 120 and / or cartridge 130. For example, the bioprinting procedure 101 may move the assembled bioprinter in a manner substantially similar to moving the following... Figure 6 The initial printing position discussed in step S602 is used to reposition the bioprinter capsule 120 and / or cassette capsule 130.

[0082] At step S508, the bioprinting program 101 determines whether the bioprinter capsule 120 and cartridge 130 are in the pre-assembly start position after changing one or more external magnetic fields according to step S506. Here, the bioprinting program 101 compares the positioning and orientation of the bioprinter capsule and cartridge 130 (after step S506) with the predetermined position and orientation corresponding to the pre-assembly start position. If the bioprinting program 101 determines that the bioprinter capsule 120 and cartridge 130 are not in the pre-assembly start position (determining step "No" branch), the bioprinting program 101 returns to step S506. If the bioprinting program 101 determines that the bioprinter capsule 120 and cartridge 130 are in the pre-assembly start position, the bioprinting program 101 proceeds to step S510.

[0083] In step S510, the bioprinting program 101 connects the bioprinter capsule 120 and the cartridge capsule 130 to form an assembled bioprinter. The bioprinter capsule 120 and the cartridge capsule 130 are connected at their respective interlocking surfaces, interlocking surfaces 127 and 137. Here, the bioprinting program 101 configures the interlocking surfaces 127 and 137 for connection. The interlocking surfaces 127 and 137 can be configured in any particular manner discussed herein.

[0084] Figure 6 This is a flowchart depicting the operational steps performed by a bioprinting program 101 according to at least one embodiment of the present invention, the operational steps being used to... Figure 5 A bioprinter assembled in the middle is used to perform bioprinting. Figure 6 This illustration provides only one possible implementation and does not imply any limitation on the environments in which different embodiments may be implemented. Those skilled in the art can make many modifications to the described environments without departing from the scope of the invention as set forth in the claims. Additionally, refer to... Figure 1 , Figure 2 and Figure 3 The elements and identifiers discussed can continue to be used Figure 6 The references to these preceding figures are provided solely for illustrating similar structures and for clarity. The use of identifiers in these preceding figures should not be construed as limiting substitutions, but rather as references to other embodiments discussed in any of the other figures.

[0085] At step S602, the bioprinting procedure 101 directs one or more external magnetic fields toward the assembled bioprinter located inside the patient, so that the assembled bioprinter obtains an initial printing position. The initial printing position can generally be understood as the specific location and / or orientation required for the assembled bioprinter to begin printing the first layer of the biological structure onto the damaged area. In an embodiment, the assembled bioprinter is moved to the initial printing position based on the introduction of one or more additional external magnetic fields, which interact with the magnetic signature of the corresponding capsule forming the assembled bioprinter to obtain the initial printing position. In an embodiment, the assembled bioprinter is moved to the initial printing position based on a change in the one or more external magnetic fields directed toward the assembled bioprinter. In an embodiment, the assembled bioprinter is moved to the initial printing position based on the introduction of one or more additional external magnetic fields and one or more existing magnetic fields. It should be understood that, based on the specific magnetic signature of the capsule forming the assembled bioprinter, the assembled bioprinter should automatically orient itself to the initial printing position when subjected to additional and / or changed external magnetic fields. However, due to various reasons (e.g., the strength or direction of the magnetic field), it is possible that the assembled bioprinter may not automatically position itself and / or orient itself to the initial printing position.

[0086] At step S604, the bioprinting program 101 determines whether the assembled bioprinter is in the initial printing position. Here, the bioprinting program 101 compares the position and orientation information of the assembled bioprinter with a predetermined position and orientation corresponding to the initial printing position (for example, the initial printing position can be specified in the biological structure design to print a specific biological structure). If the bioprinting program 101 determines that the assembled bioprinter is in the initial printing position (the "Yes" branch of the determination step), the bioprinting program 101 proceeds to step S610. If the bioprinting program 101 determines that the assembled bioprinter is not in the initial printing position (the "No" branch of the determination step), the bioprinting program 101 proceeds to step S606.

[0087] At step S606, the bioprinting program 101 alters one or more external magnetic fields guided toward the assembled bioprinter to reposition and / or orient the assembled bioprinter to its initial printing position. It should be understood that the bioprinting program 101 may alter one or more external magnetic fields to move the assembled bioprinter in any particular manner as discussed herein. For example, the bioprinting program 101 may move the assembled bioprinter in a manner substantially similar to moving the assembled bioprinter to the above-mentioned position. Figure 6 The bioprinter is repositioned in the manner discussed in step S602 regarding the initial printing position.

[0088] At step S608, the bioprinting program 101 determines whether the assembled bioprinter is in the initial printing position after changing one or more external magnetic fields according to step S606. Here, the bioprinting program 101 compares the positioning and orientation of the assembled bioprinter (after step S606) with the predetermined position and orientation corresponding to the initial printing position. If the bioprinting program 101 determines that the assembled bioprinter is not in the initial printing position (determining step "No" branch), the bioprinting program 101 returns to step S606. If the bioprinting program 101 determines that the assembled bioprinter is in the initial printing position (determining step "Yes" branch), the bioprinting program 101 proceeds to step S610.

[0089] At step S610, the bioprinting procedure 101 moves the assembled bioprinter to print layers of biological structures onto the patient's internal damaged area. In various embodiments, bioprinting is at least partially based on moving the assembled bioprinter to print specific layers of biological structures by sequentially changing one or more external magnetic fields guided toward the assembled bioprinter. The sequential change of one or more external magnetic fields corresponds to incremental movement of the assembled bioprinter along at least one plane. In embodiments, sequentially changing one or more magnetic fields includes increasing and decreasing the magnetic field strengths of a first and a second electromagnet, respectively, in opposite directions. For example, a pair of electromagnets may be arranged relative to the assembled bioprinter along the x-axis such that sequentially increasing the magnetic field strength of one magnet in the pair and decreasing the magnetic field strength of the other magnet causes the assembled bioprinter to move gradually in the x-axis direction. By controlling the applied current, the bioprinting procedure 101 can produce small changes in the magnetic field, where the relative magnetic field strength of the left electromagnet of the horizontal pair increases while the attracting magnetic field of the right electromagnet decreases. The change in the magnetic field causes the assembled bioprinter to move to the right. By reversing the magnetic field strength of the horizontal pair, the assembled bioprinter can move in the x and y directions (i.e., back and forth between the right and left electromagnets). Similarly, a pair of electromagnets can be arranged relative to the assembled bioprinter along the y-axis, such that increasing the magnetic field strength of one magnet in the pair in reverse order and decreasing the magnetic field strength of the other magnet causes the assembled bioprinter to move gradually in the y-axis direction. Likewise, a pair of electromagnets can be arranged relative to the assembled bioprinter along the z-axis, such that increasing the magnetic field strength of one magnet in the pair in reverse order and decreasing the magnetic field strength of the other magnet causes the assembled bioprinter to move gradually in the z-axis direction. Thus, when working in concert, as instructed by the bioprinting program 101, the horizontal pair controls the movement of the assembled bioprinter within each layer, while the vertical pair controls the levitation and height of the bioprinter, ensuring that when printing each layer, the assembled bioprinter is levitated at the correct height necessary for correctly printing each layer of the biological structure.

[0090] It should be noted that this process can be similarly performed to print additional layers of biological structures. In other words, the first layer can be formed by gradually moving the assembled bioprinter in the direction along the x-plane, the second layer by gradually moving the assembled bioprinter in the direction along the y-plane, the third layer by gradually moving the assembled bioprinter in the direction along the x-plane, and so on. It should also be noted that when printing each additional layer, the bioprinting program 101 gradually moves the assembled bioprinter in the direction along the z-plane, because each additional layer increases the height of the entire printed biological structure along the z-axis.

[0091] In some embodiments, a single cassette contains a sufficient amount of biomaterial to print a complete biological structure. In others, multiple cassettes are required to print the biological structure. In some embodiments, the bioprinting process 101 determines when the cassette has been emptied of biomaterial. In these embodiments, the bioprinting process 101 instructs and directs the assembled bioprinter to print from an attached, already attached cassette, or a secondary cassette may be used. In embodiments using a second cassette, the bioprinting process 101 pauses the bioprinting process and controls and configures the magnetic field generator 102 and the capsule magnetic signature 134 of the assembled bioprinter to remove the empty cassette and assemble the second cassette to reform the assembled bioprinter. In this example, after the bioprinter has been reformed with the secondary cassette, the bioprinting process 101 instructs the assembled bioprinter to restart the printing process at the precise moment the printing process was previously interrupted.

[0092] At step S612, the bioprinting program 101 determines whether the current printing layer is complete. Here, the bioprinting program 101 compares the biological structure design 146 and the layer instructions with the already printed layers. If the bioprinting program 101 determines that the current printing layer is complete (the "yes" branch of the determination step), the bioprinting program 101 proceeds to step S614. If the bioprinting program 101 determines that the current printing layer is not complete (the "no" branch of the determination step), the bioprinting program 101 returns to step S610.

[0093] At the determination step S614, the bioprinting program 101 determines whether additional layers are needed to print the biological structure. In some embodiments, the bioprinting program 101 compares the biological structure design 146 with the completed layers to determine whether the printing of the biological structure is complete. In some embodiments, the bioprinting program 101 uses image data received from a capsule camera to determine whether the biological structure is complete. In embodiments, although the printing of the biological structure may be complete, the bioprinting program determines (e.g., via image data received from the capsule camera) that the biological structure and / or surrounding area contains irregular surfaces and / or debris that may affect the effectiveness of the printed biological structure. Here, the bioprinting program 101 may instruct the washer / finisher functional unit of the assembled bioprinter to remove irregular surfaces and / or debris.

[0094] If the bioprinting program 101 determines that there is an additional layer that needs to be printed (the "Yes" branch of the judgment step), the bioprinting program 101 returns to step S610. If the bioprinting program 101 determines that there is no additional layer that needs to be printed (the "No" branch of the judgment step), the process ends.

[0095] Figure 7 This is a block diagram depicting components of a computing device suitable for a bioprinting program 101 according to at least one embodiment of the present invention, the computing device generally designated as 700. The computing device 700 includes one or more processors 704 (including one or more computer processors), a communication structure 702, a memory 706 including RAM 716 and cache 718, a persistent storage device 708, a communication unit 712, multiple I / O interfaces 714, a display 722, and multiple external devices 720. It should be understood that... Figure 7 The illustration provides only one embodiment and does not imply any limitation on the environment in which different embodiments may be implemented. Many modifications can be made to the described environment.

[0096] As depicted, computing device 700 operates on communication architecture 702, which provides communication between (multiple) computer processors 704, memory 706, persistent storage device 708, communication unit 712, and (multiple) input / output (I / O) interfaces 714. Communication architecture 702 can be implemented using any architecture suitable for transferring data or control information between (multiple) processors 704 (e.g., microprocessors, communication processors, and network processors), memory 706, (multiple) external devices 720, and any other hardware components within the system. For example, communication architecture 702 can be implemented using one or more buses.

[0097] Memory 706 and persistent storage device 708 are computer-readable storage media. In the described embodiment, memory 706 includes random access memory (RAM) 716 and cache 718. Typically, memory 706 may include one or more suitable volatile or non-volatile computer-readable storage media.

[0098] Program instructions for the bioprinting program 101 may be stored in persistent storage device 708, or more generally, in any computer-readable storage medium, for execution by one or more of the respective computer processors 704 via one or more memories of memory 706. Persistent storage device 708 may be a magnetic hard disk drive, a solid-state drive, a semiconductor storage device, a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), flash memory, or any other computer-readable storage medium capable of storing program instructions or digital information.

[0099] The media used in persistent storage device 708 can also be removable. For example, a removable hard disk drive can be used in persistent storage device 708. Other examples include optical discs and disks, thumb drives and smart cards, which are inserted into the drive for transfer to another computer-readable storage medium that is also part of persistent storage device 708.

[0100] In these examples, communication unit 712 provides communication with other data processing systems or devices. In these examples, communication unit 712 may include one or more network interface cards. Communication unit 712 can provide communication by using one or both of physical and wireless communication links. In the context of some embodiments of the invention, various sources of input data may be physically located away from computing device 700, enabling the input data to be received and output similarly transmitted via communication unit 712.

[0101] Multiple I / O interfaces 714 allow data input and output to other devices that can be integrated with computing device 700. For example, multiple I / O interfaces 714 can provide connectivity to multiple external devices 720, which may be a keyboard, keypad, touchscreen, or other suitable input device. Multiple external devices 720 may also include portable computer-readable storage media, such as thumb drives, portable optical discs or disks, and memory cards. Software and data used to practice embodiments of the invention can be stored on such portable computer-readable storage media and can be loaded onto persistent storage device 708 via multiple I / O interfaces 714. Multiple I / O interfaces 714 can also be similarly connected to display 722. Display 722 provides a mechanism for displaying data to a user and may be, for example, a computer monitor.

Claims

1. A computer-aided method for 3D printing biological structures on internal damaged areas of a patient, comprising: The assembly of the first bioprinter capsule and the first cartridge capsule is based at least in part on directing one or more external magnetic fields toward the first bioprinter capsule and the first cartridge capsule to form an assembled bioprinter inside the patient, wherein: The first bioprinter capsule includes a first magnetic signature and at least one interlocking surface; and The first box-shaped capsule includes a second magnetic signature and at least one interlocking surface; The assembled bioprinter is moved to the patient's internal damaged area, at least in part, based on altering one or more external magnetic fields guided toward the assembled bioprinter; and The first biological structure is printed onto the patient’s internal damaged area via the assembled bioprinter, at least in part, by altering one or more external magnetic fields directed toward the assembled bioprinter, wherein the one or more external magnetic fields are sequentially altered to gradually move the assembled bioprinter along at least one plane.

2. The computer-implemented method of claim 1, wherein each of the first magnetic signature and the second magnetic signature is at least partially formed based on one or more magnetic materials, wherein the one or more magnetic materials include electromagnets, permanent magnets, paramagnetic materials, and diamagnetic materials.

3. The computer-implemented method of claim 1, wherein each of the first magnetic signature and the second magnetic signature is further formed at least in part based on one or more of magnetic distribution, density distribution, and shape distribution.

4. The computer-implemented method of claim 1, wherein the one or more external magnetic fields guided toward the first bioprinter capsule and the first cartridge capsule are configured to magnetically interact with the first magnetic signature and the second magnetic signature to control the positioning and orientation of the first bioprinter capsule and the first cartridge capsule.

5. The computer-implemented method of claim 1, wherein the at least one interlocking surface of the first bioprinter capsule and the at least one interlocking surface of the first cassette capsule are further configured to lock together.

6. The computer-implemented method according to claim 1, wherein the at least one interlocking surface of the first bioprinter capsule and the at least one interlocking surface of the first cassette capsule both include coupling components.

7. The computer-implemented method of claim 6, wherein the coupling component is configured to transmit power between the first bioprinter capsule and the first cartridge capsule.

8. The computer-implemented method of claim 6, wherein the coupling component further comprises an electronic locking circuit configured to electrically lock the coupling component of the first bioprinter capsule to the coupling component of the first cartridge capsule.

9. The computer-implemented method of claim 1, wherein the at least one interlocking surface of the first bioprinter capsule and the at least one interlocking surface of the first cassette capsule further include a channel, wherein the channel of the first bioprinter capsule and the first cassette capsule are aligned.

10. The computer-implemented method of claim 9, wherein the channel is further configured to provide the first biomaterial contained within the first cassette capsule to the first bioprinter capsule.

11. The computer-implemented method of claim 10, wherein the channel is further configured to control the flow and movement of the first biomaterial between the first bioprinter capsule and the first cartridge capsule.

12. The computer-implemented method of claim 1, wherein the one or more external magnetic fields are generated by a magnetic field generator.

13. The computer-implemented method of claim 12, wherein the magnetic field generator comprises at least one magnetic material selected from the group consisting of electromagnets, permanent magnets and temporary magnets, wherein the at least one magnetic material generates one or more magnetic fields.

14. The computer-implemented method of claim 1, wherein the assembled bioprinter prints a mesh layer on the internally damaged area of ​​the patient.

15. The computer-implemented method of claim 1, wherein the first biological structure is selected from a biological structure design database, the biological structure design database including printing instructions for the assembled bioprinter and the one or more external magnetic fields.

16. The computer-implemented method of claim 1, wherein a second assembled bioprinter is assembled within the patient to work in conjunction with the assembled bioprinter to print the first biological structure.

17. The computer-implemented method of claim 1, wherein the assembled bioprinter is selected from a bioprinter design database, the bioprinter design database including assembly instructions for the one or more external magnetic fields.

18. The computer-implemented method of claim 1, wherein the first bioprinter capsule further comprises a capsule camera configured to capture image data of the patient.

19. A computer program product for 3D printing biological structures on internal damaged areas of a patient, the computer program product comprising program instructions, the program instructions including instructions to: The assembly of the first bioprinter capsule and the first cartridge capsule is based at least in part on directing one or more external magnetic fields toward the first bioprinter capsule and the first cartridge capsule to form an assembled bioprinter inside the patient, wherein: The first bioprinter capsule includes a first magnetic signature and at least one interlocking surface; as well as The first box-shaped capsule includes a second magnetic signature and at least one interlocking surface; The assembled bioprinter is moved to the patient's internally damaged area by at least partly based on altering one or more external magnetic fields that are directed toward the assembled bioprinter; as well as The first biological structure is printed onto the patient’s internal damaged area via the assembled bioprinter, at least in part, by altering one or more external magnetic fields directed toward the assembled bioprinter, wherein the one or more external magnetic fields are sequentially altered to gradually move the assembled bioprinter along at least one plane.

20. A computer system for 3D printing biological structures on internal damaged areas of a patient, the computer system comprising: One or more computer processors; One or more computer-readable storage media; Computer program instructions; The computer program instructions are stored on the one or more computer-readable storage media for execution by the one or more computer processors; as well as The computer program instructions include instructions to: The assembly of the first bioprinter capsule and the first cartridge capsule is based at least in part on directing one or more external magnetic fields toward the first bioprinter capsule and the first cartridge capsule to form an assembled bioprinter inside the patient, wherein: The first bioprinter capsule includes a first magnetic signature and at least one interlocking surface; and The first box-shaped capsule includes a second magnetic signature and at least one interlocking surface; The assembled bioprinter is moved to the patient's internal damaged area, at least in part, based on altering one or more external magnetic fields guided toward the assembled bioprinter; and The first biological structure is printed onto the patient’s internal damaged area via the assembled bioprinter, at least in part, by altering one or more external magnetic fields directed toward the assembled bioprinter, wherein the one or more external magnetic fields are sequentially altered to gradually move the assembled bioprinter along at least one plane.

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