Ultrasonic 3D printing device and printing method

Abstract

The invention provides an ultrasonic 3D printing device and a printing method. The ultrasonic 3D printing device comprises a forming cabin (1), a forming module, a transmitting module, a moving module, an auxiliary function module and a central power supply (17), the forming module is arranged in the forming cabin (1) and comprises a bio-ink container (2) and bio-ink (3); the transmitting module comprises a focused ultrasonic transducer group (4) which is arranged on a sliding block (6) of a three-dimensional motion guide rail in the motion module through a connecting piece; the motion module comprises a guide rail with a three-dimensional motion bearing function and a displacement control unit (10); the auxiliary function module comprises a high-definition camera (11), a high-definition display screen (12), a sterilization device (13) and a temperature control device (15); the central power source (17) is used for providing electric power needed by the ultrasonic 3D printing device. According to the ultrasonic 3D printing device, the precision and the biological safety of ultrasonic biological 3D printing are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of biological 3D printing, and in particular to an ultrasonic 3D printing device and a printing method. Background Art

[0002] 3D printing technology is one of the many rapid prototyping technologies currently available, also known as additive manufacturing. It is an advanced technology that uses digital model files as the basis, and uses materials such as metal powder, plastic or polymer solution to construct objects by printing layer by layer. At present, some biological implants have been constructed using 3D printing technology. However, existing biological 3D printing technology generally uses 3D printing methods such as inkjet, laser direct writing, extrusion, and light curing to construct the required biomaterials in vitro. The following problems may occur during the implantation process: (1) Soft biomaterials such as hydrogels may be artificially damaged; (2) Large-scale open surgery increases the risk of infection; (3) There is an interface mismatch between biomaterials and tissues, which reduces their biological functions.

[0003] Cutting-edge 3D bioprinting technology tends to construct bioactive materials / devices directly in vivo. As an effective stimulus and regulation medium, near-infrared light (NIR) has been reported to be used for non-invasive in vivo 3D bioprinting of tissue structures. However, since NIR can only penetrate biological tissues within a depth of 5 mm, it is still challenging to penetrate NIR into optically scattering media (such as biological tissues) and perform subsequent 3D printing operations. In addition, the light attenuation of the photosensitive ink itself and the biological toxicity of the photoinitiator have limited the material selection and construction size of photocurable 3D bioprinting.

[0004] Ultrasound has stronger penetrating performance, reaching the centimeter level, which is enough to penetrate deep into various tissues in the body. At the same time, ultrasound can also be focused on a certain "focus" using a focused ultrasound (FUS) transducer, which can effectively avoid energy absorption by tissues in non-target areas and protect healthy tissues outside the implanted material. In addition, since the FUS transducer can generate sound waves with positive and negative pressures alternating at megahertz frequencies and propagating in the depth direction, this technology can continuously transmit sound energy to the focal area with high precision. However, the current focused ultrasound bio-3D printing equipment still has problems such as low precision (millimeter level), strong sound pressure (peak value reaches more than 35MPa), single function and complex device. It is still a long way to go to achieve clinical applications such as high-precision ultrasound bio-3D printing and tissue repair. Summary of the invention

[0005] In view of this, the present invention provides an ultrasonic 3D printing device and a printing method to solve the above problems.

[0006] The present invention provides an ultrasonic 3D printing device, comprising: a molding chamber (1), a molding module, a transmitting module, a motion module, an auxiliary function module, and a central power supply (17); the molding module is arranged in the molding chamber (1), and comprises a bio-ink container (2) and bio-ink (3); the bio-ink container (2) is used to contain the bio-ink (3) and a printed initial product, and the bio-ink (3) is thermally cured based on ultrasound; the transmitting module comprises a focused ultrasonic transducer group (4), and the focused ultrasonic transducer group (4) is used to accurately perform curing printing on the bio-ink at different spatial positions, and is installed on a slider (6) of a three-dimensional motion guide rail in the motion module through a connecting piece; the motion module comprises a guide rail with a three-dimensional motion function and a displacement control unit (10), and the displacement control unit (10) is used to control the bio-ink (3) and the bio-ink (3) to achieve thermal curing ... The unit (10) cuts the preset three-dimensional model and outputs a path instruction to control the displacement of the slider (6) installed on the guide rail, thereby driving the focused ultrasonic transducer (4) to accurately solidify the biological ink at a spatial position; the auxiliary function module includes a high-definition camera (11), a high-definition display screen (12), a sterilization device (13), and a temperature control device (15); the high-definition camera (11) records the scene within the focused ultrasonic printing range in real time and transmits the picture to the connected high-definition display screen (12) to feedback the real-time printing status for adjusting the printing parameters; the sterilization device (13) is used to kill microorganisms in the printing environment; the temperature control device (15) is used to maintain a constant temperature in the printing environment; and the central power supply (17) is used to provide the power required by the ultrasonic 3D printing device.

[0007] In another implementation of the present invention, a plurality of focused ultrasonic transducers of different frequencies are integrated into the focused ultrasonic transducer group (4).

[0008] In another implementation of the present invention, the focused ultrasonic transducer group (4) is controlled by a focused ultrasonic control unit (5) to produce ultrasonic focusing effects with different power densities.

[0009] In another implementation of the present invention, the frequency range of the focused ultrasonic transducer group (4) is 20 kHz-50 MHz.

[0010] In another implementation of the present invention, the guide rails carrying the three-dimensional motion function include an x-axis lead screw guide (7), a y-axis lead screw guide (8), and a z-axis lead screw guide (9); the displacement of the slider (6) in the x-, y-, and z-axis directions drives the focused ultrasonic transducer group (4) to focus and print the biological ink at different spatial positions.

[0011] In another implementation of the present invention, the sterilization device (13) includes an ozone generator, an ultraviolet lamp and a timing switch element.

[0012] In another implementation of the present invention, the temperature control device (15) comprises a temperature-sensitive sensor, a cooling element, a heating element and a temperature control processor (16); the temperature-sensitive sensor feeds back real-time temperature information in the printing container to the temperature control processor (16), and the temperature control processor outputs a control signal to start the heating element or the cooling element.

[0013] In another aspect of the present invention, an ultrasonic 3D printing method is provided, which is applied to the above-mentioned ultrasonic 3D printing device, comprising: mixing a polymer material, a bioactive component and a sonosensitizer according to a preset ratio to obtain bio-ink; delivering the bio-ink to a bio-ink container of a molding module or a part of a biological body to be filled; designing a model through a control unit, and digitally cutting the product model according to the requirements of the printed product to set a printing path; using a focused ultrasonic control unit to set the ultrasonic frequency or intensity required for 3D printing, so that the bio-ink at the focal part of the printing path responds quickly and solidifies; through the three-dimensional movement of the slider in the motion module, the focused ultrasonic transducer is driven to continuously change the focus, so that the bio-ink at different spatial positions in the printing path is solidified, and a three-dimensional structural model of the printed product is obtained.

[0014] In another implementation of the present invention, it is characterized in that it also includes: monitoring the printing process of the three-dimensional structure model through a camera in the auxiliary function module, and adjusting relevant printing parameters in real time according to the printing status to ensure smooth printing.

[0015] In another implementation of the present invention, it also includes: controlling the sterilization device according to the requirements of the printed product to ensure the sterile state of the printing process and protect the product; maintaining the constant temperature in the molding chamber through the temperature control device to ensure the continuous and stable progress of the printing process and reduce the difference in molding effects caused by temperature changes.

[0016] The ultrasonic 3D printing device of the present invention adopts an integrated ultrasonic transducer transmitting module, which can quickly switch ultrasonic transducers of different frequencies according to biological inks of different categories or structural requirements; a slider that can move in three dimensions is adopted, which has micron-level positioning accuracy, thereby improving the accuracy of ultrasonic biological 3D printing; the degree of modularization is high, and components can be quickly replaced according to different scene requirements, which is also conducive to later maintenance; the ultrasonic sound pressure can be reduced by adjusting the ultrasonic frequency and intensity; the material molding temperature can be adjusted by adjusting the biological ink or controlling the temperature of the molding chamber to make it biosafe. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. By reading the detailed description of the following implementations, the advantages and benefits of the solutions become clear to those skilled in the art. The drawings are only used to illustrate the preferred implementations and are not to be considered as limiting the present invention.

[0018] In the attached picture:

[0019] Figure 1 FIG. 1 is a schematic diagram of an ultrasonic 3D printing device according to an embodiment of the present invention.

[0020] Description of reference numerals:

[0021] 1-molding chamber, 2-bio-ink container, 3-bio-ink, 4-focused ultrasonic transducer group, 5-focused ultrasonic control unit, 6-slider, 7-x-axis screw guide, 8-y-axis screw guide, 9-z-axis screw guide, 10-displacement control unit, 11-high-definition camera, 12-high-definition display, 13-sterilization device, 14-timing switch, 15-temperature control device, 16-temperature control processor, 17-central power supply. DETAILED DESCRIPTION

[0022] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present invention, the technical solutions in the embodiments of the present invention will be described clearly and in detail below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in the field based on the embodiments in the embodiments of the present invention should fall within the scope of protection of the embodiments of the present invention.

[0023] Figure 1 A schematic diagram of an ultrasonic 3D printing device provided in an embodiment of the present invention is shown in FIG. Figure 1 As shown, this embodiment mainly includes:

[0024] Forming chamber (1), forming module, launching module, motion module, auxiliary function module, central power supply (17).

[0025] The molding module is arranged in the molding chamber (1), and comprises a bio-ink container (2) and a bio-ink (3); the bio-ink container (2) is used to contain the bio-ink (3) and the initial printing product; the bio-ink (3) is thermally cured based on ultrasonic action.

[0026] Exemplarily, the molding module also includes a material molding platform, which can be used for printing biological ink materials to be quickly shaped on the platform, and for placing different biological ink containers (2). The biological ink container (2) can be used as a biological ink carrier to directly and quickly form a high-precision adjustable and stable three-dimensional structure during printing, so that the fine three-dimensional structure of the active material can be safely and effectively constructed in vivo.

[0027] Specifically, the bio-ink (3) includes a polymer material, a bioactive component, and a sonosensitizer. The polymer material includes one or more of an unsaturated polymer, agar, and poly (N-isopropylacrylamide); the bioactive component includes one or more of cells, polypeptides, proteins, nucleic acids, metal oxide particles, or metal elements; the sonosensitizer is a metal oxide particle or an ultrasound-sensitive molecular compound; further, various materials used for 3D printing can be prepared into ultrasound-responsive bio-ink in a certain ratio according to requirements and placed in a bio-ink container.

[0028] The transmitting module comprises a focused ultrasonic transducer group (4), which is used to accurately perform curing printing on biological ink at different spatial positions and is installed on a slider (6) of a three-dimensional motion guide rail in the motion module through a connecting piece.

[0029] The motion module comprises a guide rail with a three-dimensional motion function and a displacement control unit (10), wherein the displacement control unit (10) cuts a preset three-dimensional model and outputs a path instruction to control a slider (6) installed on the guide rail to move, thereby driving the focused ultrasonic transducer (4) to precisely solidify the biological ink at a spatial position.

[0030] Exemplarily, the product model is designed using computer-aided design (CAD) technology, and the model is digitally cut and divided according to the required plan, and then instructions are output to control the displacement of the slider, further driving the ultrasonic transducer to focus on the solidification of the bio-ink at different spatial positions for 3D printing.

[0031] The auxiliary function module comprises a high-definition camera (11), a high-definition display screen (12), a sterilization device (13), and a temperature control device (15). The high-definition camera (11) records the scene within the focused ultrasonic printing range in real time, and transmits the picture to the connected high-definition display screen (12) to feedback the real-time printing status for adjusting the printing parameters; the sterilization device (13) is used to kill microorganisms in the printing environment; the temperature control device (15) is used to maintain a constant temperature in the printing environment. The auxiliary functions include real-time high-definition monitoring, sterilization and temperature control functions, and the functions can be selectively enabled according to actual application requirements.

[0032] The central power supply (17) is used to provide the power required by the ultrasonic 3D printing device.

[0033] The ultrasonic 3D printing device of the present invention adopts an integrated ultrasonic transducer transmitting module, which can quickly switch ultrasonic transducers of different frequencies according to biological inks of different categories or structural requirements; a slider that can move in three dimensions is adopted, which has micron-level positioning accuracy, thereby improving the accuracy of ultrasonic biological 3D printing; the degree of modularization is high, and components can be quickly replaced according to different scene requirements, which is also conducive to later maintenance; the ultrasonic sound pressure can be reduced by adjusting the ultrasonic frequency and intensity; the material molding temperature can be adjusted by adjusting the biological ink or controlling the temperature of the molding chamber to make it biosafe.

[0034] In another embodiment of the present invention, the focused ultrasonic transducer group (4) integrates a plurality of focused ultrasonic transducers with different frequencies and adjustable powers, which can quickly switch ultrasonic waves of different frequencies for bio-inks of different categories or with different structural requirements. In addition, focused ultrasound can achieve three-dimensional curing molding for thermosetting materials.

[0035] In another implementation of the present invention, the focused ultrasonic transducer group (4) is controlled by a focused ultrasonic control unit (5) to produce ultrasonic focusing effects with different power densities. The ultrasonic transducer solidifies and prints the biological ink at the focal position by emitting specific focused ultrasonic waves.

[0036] In another implementation of the present invention, the frequency range of the focused ultrasonic transducer group (4) is 20 kHz-50 MHz.

[0037] Exemplarily, the selection of focused ultrasound frequency and intensity is carried out through preliminary tests or experiments to establish a corresponding relationship between focused ultrasound frequency / power and ink molding effect, screen out frequencies and intensities with high precision, low sound pressure, and low acoustic heat, and develop corresponding ultrasonic transducers for use in 3D printing equipment, preferably 20kHz, 100kHz, 1MHz, 3MHz, 6MHz and 10MHz, and select the ultrasonic frequency and intensity with the best molding effect for printing based on the preferred relationship.

[0038] In another implementation of the present invention, the guide rails carrying the three-dimensional motion function include an x-axis lead screw guide (7), a y-axis lead screw guide (8), and a z-axis lead screw guide (9); the displacement of the slider (6) in the x-, y-, and z-axis directions drives the focused ultrasonic transducer group (4) to focus and print the biological ink at different spatial positions.

[0039] In another implementation of the present invention, the sterilization device (13) includes an ozone generator, an ultraviolet lamp and a timing switch element.

[0040] In another implementation of the present invention, the temperature control device (15) comprises a temperature-sensitive sensor, a cooling element, a heating element and a temperature control processor (16); the temperature-sensitive sensor feeds back real-time temperature information in the printing container to the temperature control processor (16), and the temperature control processor outputs a control signal to start the heating element or the cooling element.

[0041] In another aspect of the present invention, an ultrasonic 3D printing method is provided, which is applied to the ultrasonic 3D printing device mentioned above. The printing method includes the selection and preparation of ultrasonic response ink; digital cutting and division of the printed product model; selection and application of focused ultrasonic frequency and intensity; debugging and activation of auxiliary functions, and the specific steps include:

[0042] The polymer material, the bioactive component and the sonosensitizer are mixed according to a preset ratio to obtain the bio-ink.

[0043] Exemplarily, the material for printing is made into a liquid or fluid, and a sonosensitizer is added and dispersed evenly to obtain biological ink.

[0044] The bio-ink is transported to the bio-ink container of the molding module or to the part of the organism to be filled.

[0045] The model is designed through the control unit, and the product model is digitally cut according to the requirements of the printed product to set the printing path.

[0046] The focused ultrasonic control unit is used to set the ultrasonic frequency or intensity required for 3D printing, so that the biological ink at the focal position in the printing path responds quickly and solidifies.

[0047] Exemplarily, the ultrasonic frequency and intensity with the best molding effect are optimized through preliminary experiments, and then the corresponding focused ultrasound is selected for 3D printing.

[0048] Through the three-dimensional movement of the slider in the motion module, the focused ultrasonic transducer is driven to continuously change its focus, so that the biological ink at different spatial positions in the printing path is solidified to obtain a three-dimensional structural model of the printed product.

[0049] In another implementation of the present invention, it is characterized in that it also includes: monitoring the printing process of the three-dimensional structure model through a camera in the auxiliary function module, and adjusting relevant printing parameters in real time according to the printing status to ensure smooth printing.

[0050] In another implementation of the present invention, it also includes: controlling the sterilization device according to the requirements of the printed product to ensure the sterile state of the printing process and protect the product; maintaining the constant temperature in the molding chamber through the temperature control device to ensure the continuous and stable progress of the printing process and reduce the difference in molding effects caused by temperature changes.

[0051] In another aspect of the present invention, an electronic device includes: a processor, a memory, a communication bus, and a communication interface.

[0052] in:

[0053] The processor, memory and communication interface communicate with each other through a communication bus.

[0054] Communication interface, used to communicate with other electronic devices or servers.

[0055] The processor is used to execute the program, and specifically can execute the steps of any one of the ultrasonic 3D printing methods in the above embodiments.

[0056] Specifically, the program may include program codes including computer operation instructions.

[0057] The processor may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application. The one or more processors included in the smart device may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.

[0058] The memory is used to store programs. The memory may include a high-speed RAM memory, and may also include a non-volatile memory, such as at least one disk memory.

[0059] The program can be specifically used to enable the processor to execute to implement the steps of any one of the ultrasonic 3D printing methods described in the embodiments. The specific implementation of each step in the program can refer to the corresponding descriptions in the steps and units executed by any one of the ultrasonic 3D printing methods in the above steps, which will not be repeated here. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the above-described devices and modules can refer to the corresponding process description in the aforementioned method embodiments.

[0060] The exemplary embodiments of the present application also provide a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable a computer to execute the methods of the various embodiments of the present application.

[0061] The above-described method according to an embodiment of the present invention may be implemented in hardware, firmware, or as software or computer code that may be stored in a recording medium (such as a CD ROM, RAM, floppy disk, hard disk, or magneto-optical disk), or as computer code that is originally stored in a remote recording medium or a non-temporary machine-readable medium downloaded over a network and will be stored in a local recording medium, so that the method described herein may be stored in such software processing on a recording medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware (such as an ASIC or FPGA). It is understood that a computer, processor, microprocessor controller, or programmable hardware includes a storage component (e.g., RAM, ROM, flash memory, etc.) that can store or receive software or computer code, and when the software or computer code is accessed and executed by a computer, processor, or hardware, the method described herein is implemented. In addition, when a general-purpose computer accesses the code for implementing the method shown herein, the execution of the code converts the general-purpose computer into a dedicated computer for executing the method shown herein.

[0062] Thus far, specific embodiments of the present invention have been described. Other embodiments are within the scope of the appended claims. In some cases, the actions recited in the claims may be performed in a different order and still achieve the desired results. Additionally, the processes depicted in the accompanying drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In some embodiments, multitasking and parallel processing may be advantageous.

[0063] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0064] In the description of the present invention, the terms "first" and "second" are only used to facilitate the description of different components or names, and cannot be understood as indicating or implying a sequential relationship, relative importance, or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features.

[0065] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0066] It should be noted that although the specific embodiments of the present invention are described in detail in conjunction with the accompanying drawings, it should not be understood as limiting the scope of protection of the present invention. Within the scope described in the claims, various modifications and variations that can be made by those skilled in the art without creative work still belong to the scope of protection of the present invention.

[0067] The examples of the embodiments of the present invention are intended to concisely illustrate the technical features of the embodiments of the present invention so that those skilled in the art can intuitively understand the technical features of the embodiments of the present invention, and are not intended to be improper limitations of the embodiments of the present invention.

[0068] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An ultrasonic 3D printing device, characterized in that: include: A molding chamber (1), a molding module, a launching module, a motion module, an auxiliary function module, and a central power supply (17); The molding module is arranged in the molding chamber (1), and comprises a bio-ink container (2) and bio-ink (3), wherein the bio-ink container (2) is used to contain the bio-ink (3) and the initial printing product, and the bio-ink (3) is thermally cured based on ultrasonic action; The transmitting module comprises a focused ultrasonic transducer group (4), which is used to accurately perform curing printing on biological ink at different spatial positions and is installed on a slider (6) of a three-dimensional motion guide rail in the motion module through a connecting piece; The motion module comprises a guide rail with a three-dimensional motion function and a displacement control unit (10), wherein the displacement control unit (10) cuts a preset three-dimensional model and outputs a path instruction to control a slider (6) installed on the guide rail to move, thereby driving the focused ultrasonic transducer (4) to precisely solidify the biological ink at a spatial position; The auxiliary function module comprises a high-definition camera (11), a high-definition display screen (12), a sterilizing device (13), and a temperature control device (15); the high-definition camera (11) records the scene within the focused ultrasonic printing range in real time, and transmits the picture to the connected high-definition display screen (12) to feedback the real-time printing status for adjusting the printing parameters; the sterilizing device (13) is used to kill microorganisms in the printing environment; and the temperature control device (15) is used to maintain a constant temperature in the printing environment; The central power supply (17) is used to provide the power required by the ultrasonic 3D printing device.

2. The device according to claim 1, characterized in that The focused ultrasonic transducer group (4) integrates a plurality of focused ultrasonic transducers of different frequencies.

3. The device according to claim 2, characterized in that The focused ultrasonic transducer group (4) is regulated by a focused ultrasonic control unit (5) to produce ultrasonic focusing effects with different power densities.

4. The device according to claim 3, characterized in that The frequency range of the focused ultrasonic transducer group (4) is 20 kHz-50 MHz.

5. The device according to claim 1, characterized in that The guide rails carrying the three-dimensional motion function include an x-axis lead screw guide rail (7), a y-axis lead screw guide rail (8), and a z-axis lead screw guide rail (9); The displacement of the slider (6) in the x, y and z axis directions drives the focused ultrasonic transducer group (4) to perform focused printing on biological ink at different spatial positions.

6. The device according to claim 1, characterized in that The sterilizing device (13) comprises an ozone generator, an ultraviolet lamp and a timing switch element.

7. The device according to claim 1, characterized in that The temperature control device (15) comprises a temperature sensitive sensor, a cooling element, a heating element and a temperature control processor (16); The real-time temperature information in the printing container is fed back to the temperature control processor (16) through the temperature sensitive sensor, and the temperature control processor outputs a control signal to start the heating element or the cooling element.

8. An ultrasonic 3D printing method, applied to the ultrasonic 3D printing device according to claim 1, characterized in that: include: The polymer material, the bioactive component and the sonosensitizer are mixed according to a preset ratio to obtain a bio-ink; The bio-ink is transported to the bio-ink container of the molding module or to the part of the organism to be filled; The control unit is used to design the model and digitally cut the product model according to the requirements of the printed product to set the printing path; Using a focused ultrasonic control unit to set the ultrasonic frequency or intensity required for 3D printing, so that the bio-ink at the focal point in the printing path responds quickly and solidifies; Through the three-dimensional movement of the slider in the motion module, the focused ultrasonic transducer is driven to continuously change its focus, so that the biological ink at different spatial positions in the printing path is solidified to obtain a three-dimensional structural model of the printed product.

9. The method according to claim 8, characterized in that Also includes: The printing process of the three-dimensional structure model is monitored by the camera in the auxiliary function module, and the relevant printing parameters are adjusted in real time according to the printing status to ensure smooth printing.

10. The method according to claim 9, characterized in that Also includes: Control the sterilization device according to the requirements of the printed product to ensure the sterility of the printing process and protect the product; The temperature in the molding chamber is maintained constant through the temperature control device to ensure the continuous and stable printing process and reduce the difference in molding effects caused by temperature changes.

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