Minimally invasive biological 3D printing robot system

Abstract

The invention discloses a minimally invasive biological 3D printing robot system which comprises a printing continuum robot, a driving device, an ink extrusion device, a positioning device and a control cabinet. The printing continuum robot comprises a telescopic shell, an ink output head and an ink conveying pipe. The driving device comprises a supporting frame and a driving module arranged on the supporting frame, the printing continuum robot is arranged on the supporting frame, and the driving module is used for driving the shell to stretch out and draw back; the ink extrusion device comprises an air pump and an ink cylinder, the ink cylinder is arranged on the supporting frame, an output port of the ink cylinder is connected with the ink conveying pipe, and the air pump is used for extruding bio-ink in the ink cylinder through the ink conveying pipe; the positioning device is connected with the supporting frame and used for moving the driving device. The control cabinet is used for controlling system operation; the driving module drives the printing continuum robot to stretch out and draw back, the positioning device moves the whole driving device, the printing position can be adjusted, and the stability in the movement process and the response speed in the stretching-out and drawing-back process are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of 3D printing, and in particular to a minimally invasive biological 3D printing robot system. Background Art

[0002] As a representative new precision medical technology in the field of tissue engineering, biological 3D printing technology has shown unique advantages in tissue repair, organ regeneration and functional reconstruction, and has broad application prospects. Biological 3D printed medical prostheses have been widely used in clinical fields such as dentistry, orthopedics and bone and joint surgery due to their high degree of customization, short R&D cycle and excellent biocompatibility. However, existing technologies usually use in vitro printing and cell culture before transplantation into the human body. This process is not only complicated, but may also affect the patient's recovery and lead to poor adaptability of the structure. Minimally invasive biological 3D printing technology can directly print biological structures at the defect site, providing a new solution for in situ repair of tissues.

[0003] A Chinese invention patent with patent application number CN202310309559.1 discloses an electrostatically assisted biological 3D printing gun, which aims to achieve minimally invasive biological printing and effectively reduce the damage of surgery to the patient's body through handheld operation. However, the printing process of this technology is too dependent on the doctor's experience, resulting in low printing accuracy and the printing rate cannot be accurately controlled; a Chinese invention patent with patent application number CN202211128310.2 discloses a multi-degree-of-freedom software printing device, which adopts a dielectric-driven automated operation mode, which can effectively reduce the influence of doctor's experience and improve printing quality. However, the dielectric drive mode has a strong time lag effect, which leads to unstable movement during printing.

[0004] Therefore, the present invention applies for a minimally invasive biological 3D printing robot system, which effectively improves the quality of biological 3D printing through a stable driving mechanism and a highly flexible structural form. Summary of the invention

[0005] In view of this, the present invention provides a minimally invasive biological 3D printing robot system, which effectively improves the quality of biological 3D printing through a stable driving mechanism and a highly flexible structure.

[0006] The minimally invasive biological 3D printing robot system provided by the present invention adopts the following technical solutions:

[0007] A minimally invasive biological 3D printing robot system, comprising a printing continuum robot, a driving device, an ink extrusion device, a positioning device and a control cabinet;

[0008] The printing continuum robot comprises a retractable shell, an ink outlet head arranged at the end of the shell, and an ink delivery tube arranged in the shell;

[0009] The driving device comprises a support frame and a driving module arranged on the support frame, the printing continuum robot is arranged on the support frame, and the driving module is used to drive the shell to extend and retract;

[0010] The ink extrusion device comprises an air pump and an ink cartridge connected to the air pump, wherein the ink cartridge is arranged on a support frame, an output port of the ink cartridge is connected to an ink delivery tube, and the air pump is used to extrude the biological ink in the ink cartridge through the ink delivery tube;

[0011] The positioning device is connected to the support frame for moving the driving device;

[0012] The control cabinet is used to control the operation of the system.

[0013] Furthermore, the shell includes a guide base installed on a support frame, an outer shell slidably arranged in the guide base, and an inner shell slidably arranged in the outer shell, the ink output head is arranged at the end of the inner shell, the ink delivery tube passes through the inner shell and is connected to the ink output head, and the driving module is used to drive the outer shell and the inner shell to move.

[0014] Furthermore, a plurality of outer driving rods are arranged in the outer shell, and the outer driving rods extend out of the outer shell to cooperate with the driving module. A plurality of inner driving rods are arranged in the inner shell, and the inner driving rods extend out of the inner shell to cooperate with the driving module.

[0015] Furthermore, the outer shell includes an outer flexible section and an outer rigid section, the outer rigid section passes through the guide base to cooperate with the drive module, and the inner shell includes an inner flexible section and an inner rigid section, the inner rigid section passes through the outer shell to cooperate with the drive module.

[0016] Furthermore, the outer driving rod and the inner driving rod are both covered with a rod sleeve layer, and the rod sleeve layer includes a flexible tube and a rigid tube, and the flexible tube and the rigid tube are respectively arranged corresponding to the flexible section and the rigid section of the shell.

[0017] Furthermore, the driving module includes multiple driving motors, motor drivers, driving screws corresponding to the driving motors one by one, and outer connecting blocks and inner connecting blocks that cooperate with the driving screws for transmission. The outer connecting blocks and inner connecting blocks are arranged alternately, the outer connecting blocks are connected to the outer driving rods, and the inner connecting blocks are connected to the inner driving rods. The outer connecting blocks and inner connecting blocks can be driven to move along the driving screws.

[0018] Furthermore, guide rails are arranged on both sides of the driving screw rod in the support frame, and the outer connecting block and the inner connecting block are both slidably arranged on the guide rails. The ends of the outer connecting block and the inner connecting block are both provided with connecting holes for connecting with the outer driving rod and the inner driving rod respectively.

[0019] Furthermore, the ends of the outer driving rod and the inner driving rod are both provided with fixed retaining rings, and the connecting hole is provided with a limiting groove for limiting the fixed retaining ring.

[0020] Furthermore, a locking bolt is provided at the bottom of the connecting hole, a locking block is provided at the top of the connecting hole, and locking block stops for fixing the locking block are provided on both the outer connecting block and the inner connecting block.

[0021] Furthermore, the ink extrusion device also includes a gas filter connected to the air pump, a gas distributor connected to the gas filter, and an air pipe connected to the gas distributor, wherein the air pipe is connected to the ink cylinder.

[0022] In summary, the present invention comprises at least one of the following beneficial effects:

[0023] 1. Through the control cabinet, the positioning device moves the driving device, and the ink outlet head of the printing continuum robot on the driving device is aligned with the part to be printed. The air pump squeezes the biological ink in the ink cylinder and delivers it to the ink outlet head through the ink delivery tube, and delivers the biological ink to the printing part, ensuring the stability of the entire biological 3D printing process. At the same time, the driving module drives the printing continuum robot to extend and retract, and the positioning device moves the entire driving device to adjust the printing position. At the same time, the outer shell and the inner shell are driven by the rod to extend and retract, which significantly improves the stability during the movement and the response speed of the extension and retraction process;

[0024] 2. Based on the retractable shell of the printed continuum robot, the shell is spliced ​​with rigid segments and flexible segments, which significantly reduces the influence of materials on the deformation process of the printed continuum robot, thereby achieving free changes from zero to any length in the workspace, and improving the flexibility and adaptability of the biological 3D printing process;

[0025] 3. The guide base remains stationary relative to the incision, which significantly reduces the risk of damage to the incision during surgery. At the same time, the inner flexible section and the outer flexible section effectively reduce the potential damage to the human body caused by accidental collision. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0027] Figure 1 It is a structural schematic diagram of an embodiment of the present invention;

[0028] Figure 2 This is a schematic diagram of the structure of a printing continuum robot according to an embodiment of the present invention;

[0029] Figure 3 An exploded schematic diagram of a printing continuum robot according to an embodiment of the present invention;

[0030] Figure 4 It is a schematic diagram of the structure of the driving device according to an embodiment of the present invention;

[0031] Figure 5 The figure is a schematic diagram of the connection structure between the connecting block and the driving rod according to an embodiment of the present invention.

[0032] Description of reference numerals:

[0033] 1. Printing continuum robot; 11. Shell; 111. Guide base; 112. Outer shell; 1121. Outer flexible section; 1122. Outer rigid section; 1123. Outer end cover; 113. Inner shell; 1131. Inner flexible section; 1132. Inner rigid section; 1133. Inner end cover; 114. Outer driving rod; 115. Inner driving rod; 116. Rod sleeve; 117. Fixed retaining ring; 118. Locking bolt; 119. Locking block; 12. Ink output head; 13. Ink delivery pipe; 2. Driving device; 21. Support frame; 211. Bottom plate; 212. Guide rail support Plate; 213, motor support plate; 214, driver support frame; 215, ink cartridge support plate; 216, ink cartridge fixing block; 217, lateral support bar; 218, top support plate; 22, drive module; 221, drive motor; 222, drive screw; 223, outer layer connection block; 224, inner layer connection block; 225, motor driver; 226, coupling; 227, slider; 228, guide rail; 229, locking block stopper; 3, ink extrusion device; 31, air pump; 32, ink cartridge; 33, gas filter; 34, gas distributor; 35, air pipe; 4, positioning device; 5, control cabinet. DETAILED DESCRIPTION

[0034] The following describes the embodiments of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention.

[0035] The following is combined with Figure 1-5 The present invention is described in further detail.

[0036] The embodiment of the present invention discloses a minimally invasive biological 3D printing robot system. Figure 1-Figure 5 The minimally invasive biological 3D printing robot system includes a printing continuum robot 1, a driving device 2, an ink extrusion device 3, a positioning device 4 and a control cabinet 5; the printing continuum robot 1 includes a retractable shell 11, an ink outlet head 12 arranged at the end of the shell 11 and an ink delivery tube 13 arranged in the shell 11; the driving device 2 includes a support frame 21 and a driving module 22 arranged on the support frame 21, the printing continuum robot 1 is arranged on the support frame 21, and the driving module 22 is used to drive the shell 11 to retract; the ink extrusion device 3 includes an air pump 31 and an ink cartridge 32 connected to the air pump 31, the ink cartridge 32 is arranged on the support frame 21, the output port of the ink cartridge 32 is connected to the ink delivery tube 13, and the air pump 31 is used to extrude the biological ink in the ink cartridge 32 through the ink delivery tube 13; the positioning device 4 and the support frame 21 is connected to a multi-axis rigid mechanical arm for moving the driving device 2 and the positioning device 4, so as to transport the printing continuum robot 1 to a designated position, so as to adapt to various types of working environments; the control cabinet 5 is used to control the operation of the system; through the control of the control cabinet 5, the positioning device 4 moves the driving device 2, and the ink outlet head 12 of the printing continuum robot 1 on the driving device 2 is aligned with the part to be printed, and the air pump 31 squeezes the biological ink in the ink cylinder 32, and delivers it to the ink outlet head 12 through the ink delivery tube 13, and delivers the biological ink to the printing part, thereby ensuring the stability of the entire biological 3D printing process. At the same time, the driving module 22 drives the printing continuum robot 1 to extend and retract, and the positioning device 4 moves the entire driving device 2, so as to adjust the printing position, which significantly improves the stability during the movement and the response speed of the extension and retraction process.

[0037] In this embodiment, the shell 11 includes a guide base 111 installed on the support frame 21, an outer shell 112 slidably arranged in the guide base 111 and an inner shell 113 slidably arranged in the outer shell 112, the ink output head 12 is arranged at the end of the inner shell 113, the ink delivery tube 13 passes through the inner shell 113 and is connected to the ink output head 12, and the driving module 22 is used to drive the outer shell 112 and the inner shell 113 to move; the guide base 111 is fixedly installed at the end of the support frame 21, the shell 11 passes through the guide base 111, one end of the shell 11 extends toward the inside of the support frame 21, and one end of the shell 11 provided with the ink output head 12 extends toward the outside of the support frame 21, the outer shell 112 and The inner shell 113 cooperates with the driving module 22, and the driving module 22 is used to make the outer shell 112 slide in the guide base 111. In order to enable the outer shell 112 to move a longer distance, the length of the outer shell 112 is longer than the length of the guide base 111. The inner shell 113 is moved in the outer shell 112 by the driving module 22. In order to enable the inner shell 113 to move a longer distance, the length of the inner shell 113 is longer than the length of the outer shell 112. At the same time, in order to prevent the outer shell 112 and the inner shell 113 from rotating when moving, the outer shell 112 and the inner shell 113 are both symmetrical anti-rotation structures, and prevent anisotropy caused by structural asymmetry.

[0038] In this embodiment, a plurality of outer driving rods 114 are arranged in the outer shell 112, and an outer end cover 1123 is arranged at the end of the outer shell 112 extending out of the support frame 21. The end of the outer driving rod 114 located in the outer shell 112 is fixedly connected to the outer end cover 1123, and the outer driving rod 114 extends out of the outer shell 112 and cooperates with the driving module 22. The driving module 22 drives the outer driving rod 114, and the outer shell 112 is moved along the guide base 111 through the outer driving rod 114; a plurality of inner driving rods are arranged in the inner shell 113. Part 115, the end of the inner shell 113 extending out of one end of the support frame 21 is provided with an inner end cover 1133, the end of the inner driving rod 115 located in the inner shell 113 is fixedly connected to the inner end cover 1133, the inner driving rod 115 extends out of the inner shell 113 and cooperates with the driving module 22, the driving module 22 drives the inner driving rod 115, and the inner shell 113 is moved along the outer shell 112 through the inner driving rod 115; in this embodiment, there are four outer driving rods 114 and four inner driving rods 115, and they are all made of nitinol superelastic material.

[0039] In this embodiment, the outer shell 112 includes an outer flexible section 1121 and an outer rigid section 1122, the outer rigid section 1122 passes through the guide base 111 and cooperates with the drive module 22, and the outer end cover 1123 is arranged at the end of the outer flexible section 1121, and the inner shell 113 includes an inner flexible section 1131 and an inner rigid section 1132, the inner rigid section 1132 passes through the outer shell 112 and cooperates with the drive module 22, and the inner end cover 1133 is arranged at the inner flexible section 1132. end; the inner rigid section 1132 and the outer rigid section 1122 will not exceed the end surface of the guide base 111 located at the end outside the support frame 21, thereby preventing the deformation of the outer flexible section 1121 and the inner flexible section 1131 from being affected. The ends of the outer shell 112 and the inner shell 113 located outside the support frame 21 are made of flexible material to facilitate deformation, and the ends located inside the support frame 21 are made of rigid material to effectively prevent the proximal end buckling problem of the printing continuum robot 1 during the deformation process.

[0040] In this embodiment, the outer driving rod 114 and the inner driving rod 115 are both covered with a rod sleeve 116, and the rod sleeve 116 includes a flexible tube and a rigid tube, which are arranged corresponding to the flexible section and the rigid section of the shell 11 respectively. The rigid tube length of the rod sleeve 116 can wrap the portion where the driving rod extends from the inner rigid section 1132 and the outer rigid section 1122, which can increase the rigidity of the driving rod, thereby preventing the outer driving rod 114 and the inner driving rod from being deformed. The extended portion of component 115 located in the support frame 21 undergoes unexpected buckling, and the flexible tube of the rod sleeve 116 wraps the remaining portion of the driving rod except for the portion wrapped with the rigid tube, thereby preventing the unexpected deformation of the outer flexible segment 1121 and the inner flexible segment 1131 due to the uneven diameter of the driving rod. At the same time, this structural form does not increase the stiffness of the outer flexible segment 1121 and the inner flexible segment 1131, thereby preventing the difficulty of deformation caused by excessive stiffness and the tearing of the flexible constraint material.

[0041] In this embodiment, the driving module 22 includes a plurality of driving motors 221 installed on the support frame 21, a motor driver 225, a driving screw 222 corresponding to the driving motor 221, an outer connecting block 223 and an inner connecting block 224 that are transmission-coordinated with the driving screw 222, a coupling 226 is provided at the output end of the driving motor 221, the driving screw 222 is connected to the driving motor 221 through the coupling 226, the outer connecting block 223 and the inner connecting block are arranged alternately, the outer connecting block 223 and the inner connecting block 224 are arranged around the ink delivery tube 13, and the outer connecting block 223 and the inner connecting block 224 are not in the same On a plane, the outer connecting block 223 is connected to the outer driving rod 114, and the inner connecting block 224 is connected to the inner driving rod 115. The outer connecting block 223 and the inner connecting block 224 can be driven to move along the driving screw 222. The driving motor 221 is controlled by the motor driver 225 to rotate the driving screw 222, thereby driving the outer connecting block 223 and the inner connecting block 224 to move. During the movement, the outer connecting block 223 and the inner connecting block 224 move the outer driving rod 114 and the inner driving rod 115, thereby driving the outer shell 112 and the inner shell 113 to move, thereby realizing the telescopic movement of the shell 11.

[0042] In this embodiment, guide rails 228 are arranged on both sides of the driving screw rod 222 in the support frame 21, and sliders 227 are arranged on the guide rails 228. The sliders 227 are connected to the outer connecting block 223 and the inner connecting block 224, so that the outer connecting block 223 and the inner connecting block 224 are both slidably arranged on the guide rails 228, and the end surfaces of the outer connecting block 223 and the inner connecting block 224 facing the center of the support frame 21 gradually narrow to a slender strip and are provided with connecting holes for connecting with the outer driving rod 114 and the inner driving rod 115 respectively, so as to prevent collision during movement while ensuring that the outer driving rod 114 and the inner driving rod 115 move in a straight line.

[0043] In this embodiment, a fixed retaining ring 117 is provided at the end of the outer driving rod 114 and the inner driving rod 115, and a limiting groove for limiting the fixed retaining ring 117 is provided in the connecting hole. The limiting groove and the connecting hole form a T-shaped structure. The fixed retaining ring 117 is located in the limiting groove, which can limit the outer driving rod 114 and the inner driving rod 115 in the connecting hole.

[0044] In this embodiment, a locking bolt 118 is provided at the bottom of the connecting hole, and a locking block 119 is provided at the top of the connecting hole. The locking block 119 is two semicircular tubes spliced ​​together and wrapped around both sides of the driving rod. The inner diameter of the connecting hole of the connecting block is slightly larger than the diameter of the rigid tube of the rod sleeve layer 116, and the inner diameter of the limiting groove is slightly larger than the diameter of the fixed retaining ring 177, which is convenient for installation. The locking bolt 118 is a threaded structure without an end, and is detachably connected with the outer connecting block 223 and the inner connecting block 224 through threads on the basis of preventing collision. Then, the outer connecting block 223 and the inner connecting block 224 are both provided with a locking block stopper 229 for fixing the locking block 119. The locking block stopper 229 is fixed to the connecting block by bolts, so that the locking bolt 118 and the locking block 119 are squeezed on the upper and lower sides of the fixed retaining ring 177. The locking block stopper 229 is arranged to prevent the locking block 119 from slipping out. The locking bolt 118 and the locking block 119 fix the fixed retaining ring 177 in the limiting groove, which can reduce the influence of the gap between the limiting groove and the fixed retaining ring 177 on the transmission process.

[0045] In this embodiment, the ink extrusion device 3 also includes a gas filter 33 connected to the air pump 31, a gas distributor 34 connected to the gas filter 33, and an air pipe 35 connected to the gas distributor 34. The air pipe 35 is connected to the ink cylinder 32. The gas filter 33 is used to filter impurities in the gas and dry the gas. The gas passing through the gas filter 33 is passed into the gas distributor 34 through the air pipe 35, thereby realizing controllable adjustment of the gas extrusion pressure.

[0046] In this embodiment, the support frame 21 includes a bottom plate 211, two guide rail support plates 212, a motor support plate 213, a driver support frame 214, an ink cartridge support plate 215, an ink cartridge fixing block 216, a lateral support bar 217 and a top support plate 218. The guide rail support plate 212, the motor support plate 213, the driver support frame 214 and the ink cartridge support plate 215 are all fixedly connected to the bottom plate 21. The lateral support bars 217 are respectively fixedly connected to the two sides between the motor support plate 213 and the ink cartridge support plate 215. In addition, the top support plate 218 is fixedly connected to the top between the two guide rail support plates 212 to prevent structural deformation. The two ends of the guide rail 228 are fixed between the two guide rail support plates 212. The drive motor 221 is installed on the motor support plate 213. The motor driver 225 is installed on the driver support frame 214. The ink cartridge 32 is installed on the ink cartridge support plate 215 and fixed by the ink cartridge fixing block 216.

[0047] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and its core ideas of this application. The above is only the preferred implementation method of this application. It should be pointed out that due to the limitations of textual expression and the objective existence of infinite specific structures, ordinary technicians in this technical field can make several improvements, modifications or changes without departing from the principles of this application, and can also combine the above technical features in an appropriate manner; these improvements, modifications, changes or combinations, or the direct application of the concept and technical solution of the invention to other occasions without improvement, should be regarded as the scope of protection of this application.

Claims

1. A minimally invasive biological 3D printing robot system, characterized by: It comprises a printing continuum robot (1), a driving device (2), an ink extrusion device (3), a positioning device (4) and a control cabinet (5); The printing continuum robot (1) comprises a retractable housing (11), an ink outlet head (12) arranged at the end of the housing (11), and an ink delivery tube (13) arranged in the housing (11); The driving device (2) comprises a support frame (21) and a driving module (22) arranged on the support frame (21); the printing continuum robot (1) is arranged on the support frame (21); and the driving module (22) is used to drive the housing (11) to extend and retract; The ink extrusion device (3) comprises an air pump (31) and an ink cartridge (32) connected to the air pump (31); the ink cartridge (32) is arranged on a support frame (21); an output port of the ink cartridge (32) is connected to an ink delivery tube (13); and the air pump (31) is used to extrude the biological ink in the ink cartridge (32) through the ink delivery tube (13); The positioning device (4) is connected to the support frame (21) and is used to move the driving device (2); The control cabinet (5) is used to control the operation of the system.

2. The minimally invasive biological 3D printing robot system according to claim 1, characterized in that: The shell (11) comprises a guide base (111) mounted on a support frame (21), an outer shell (112) slidably disposed in the guide base (111), and an inner shell (113) slidably disposed in the outer shell (112); the ink output head (12) is disposed at the end of the inner shell (113); the ink delivery tube (13) passes through the inner shell (113) and is connected to the ink output head (12); and the driving module (22) is used to drive the outer shell (112) and the inner shell (113) to move.

3. The minimally invasive biological 3D printing robot system according to claim 2, characterized in that: A plurality of outer driving rods (114) are arranged in the outer shell (112), and the outer driving rods (114) extend out of the outer shell (112) to cooperate with the driving module (22); a plurality of inner driving rods (115) are arranged in the inner shell (113), and the inner driving rods (115) extend out of the inner shell (113) to cooperate with the driving module (22).

4. The minimally invasive biological 3D printing robot system according to claim 3, characterized in that: The outer shell (112) includes an outer flexible section (1121) and an outer rigid section (1122), and the outer rigid section (1122) passes through the guide base (111) to cooperate with the drive module (22). The inner shell (113) includes an inner flexible section (1131) and an inner rigid section (1132), and the inner rigid section (1132) passes through the outer shell (112) to cooperate with the drive module (22).

5. The minimally invasive biological 3D printing robot system according to claim 4, characterized in that: The outer driving rod (114) and the inner driving rod (115) are both sleeved with a rod sleeve (116), and the rod sleeve (116) comprises a flexible tube and a flexible tube, and the flexible tube and the flexible tube are respectively arranged corresponding to the flexible section and the rigid section of the shell (11).

6. The minimally invasive biological 3D printing robot system according to claim 3, characterized in that: The driving module (22) comprises a plurality of driving motors (221) mounted on a support frame (21), a motor driver (225), driving screws (222) corresponding one to one with the driving motors (221), and outer connecting blocks (223) and inner connecting blocks (224) which are transmission-coordinated with the driving screws (222); the outer connecting blocks (223) and the inner connecting blocks are arranged alternately; the outer connecting blocks (223) are connected to the outer driving rods (114); the inner connecting blocks (224) are connected to the inner driving rods (115); and the outer connecting blocks (223) and the inner connecting blocks (224) can be driven to move along the driving screws (222).

7. The minimally invasive biological 3D printing robot system according to claim 6, characterized in that: Guide rails (228) are arranged on both sides of the driving screw rod (222) in the support frame (21), and the outer layer connecting block (223) and the inner layer connecting block (224) are both slidably arranged on the guide rails (228), and the ends of the outer layer connecting block (223) and the inner layer connecting block (224) are both provided with connecting holes for connecting with the outer layer driving rod (114) and the inner layer driving rod (115) respectively.

8. The minimally invasive biological 3D printing robot system according to claim 7, characterized in that: The ends of the outer driving rod (114) and the inner driving rod (115) are both provided with fixed retaining rings (117), and the connection hole is provided with a limiting groove for limiting the fixed retaining ring (117).

9. The minimally invasive biological 3D printing robot system according to claim 8, characterized in that: A locking bolt (118) is provided at the bottom of the connection hole, a locking block (119) is provided at the top of the connection hole, and a locking block stopper (229) for fixing the locking block (119) is provided on both the outer layer connection block (223) and the inner layer connection block (224).

10. The minimally invasive biological 3D printing robot system according to claim 1, characterized in that: The ink extrusion device (3) further comprises a gas filter (33) connected to the air pump (31), a gas distributor (34) connected to the gas filter (33), and an air pipe (35) connected to the gas distributor (34); the air pipe (35) is connected to the ink cylinder (32).

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