Minimally invasive biological 3d printer robot system

Abstract

The application discloses a minimally invasive biological 3D printer 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 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 for driving the shell to be telescopic. The ink extrusion device comprises an air pump and an ink cartridge. The ink cartridge is arranged on the support frame. The output port of the ink cartridge is connected with the ink conveying pipe. The air pump is used for extruding the biological ink in the ink cartridge through the ink conveying pipe. The positioning device is connected with the support frame and is used for moving the driving device. The control cabinet is used for controlling the system to run. The driving module is used for driving the printing continuum robot to be telescopic and the positioning device to move the whole driving device, so that the printing position can be adjusted, and the stability in the movement process and the response speed in the telescopic process are remarkably improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of 3D printing technology, in particular to a minimally invasive biological 3D printing robot system. BACKGROUND

[0002] Biological 3D printing technology, as a representative new precision medical technology in the field of tissue engineering, has unique advantages in tissue repair, organ regeneration and functional reconstruction, and has broad application prospects. Biological 3D printing medical prosthesis has been widely used in clinical fields such as dentistry, orthopedics and bone and joint surgery due to its high customization, short research and development cycle and excellent biocompatibility. However, the existing technology usually prints in vitro and then transplants to the human body after cell culture, which not only is complex, but also may affect the recovery of patients and lead to poor structural adaptability. 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 static-electricity-assisted biological 3D printing gun with patent application number CN202310309559.1 is disclosed to achieve minimally invasive biological printing, effectively reducing the damage to the patient's body by hand-held operation. However, the printing process of this technology relies too much on the experience of doctors, resulting in low printing accuracy and inaccurate printing rate. There is a patent application number CN202211128310.2 for a multi-degree-of-freedom soft printing device. The device uses dielectric-driven automatic operation to effectively reduce the influence of doctor's experience and improve printing quality. However, the dielectric driving method has strong time delay effect, resulting in unstable movement during printing.

[0004] Therefore, the present application provides a minimally invasive biological 3D printing robot system, which effectively improves the quality of biological 3D printing through stable driving mechanism and high flexibility structure. SUMMARY

[0005] Therefore, the present application provides a minimally invasive biological 3D printing robot system, which effectively improves the quality of biological 3D printing through stable driving mechanism and high flexibility structure.

[0006] The minimally invasive biological 3D printing robot system provided by the present application 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 telescopic shell, an ink output head arranged at the end of the shell, and an ink conveying pipe 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 stretch and retract;

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

[0011] The positioning device is connected with the support frame and is used to move the driving device;

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

[0013] Further, the shell comprises a guide base mounted on the support frame, an outer shell slidingly arranged in the guide base, and an inner shell slidingly arranged in the outer shell, the ink output head is arranged at an end of the inner shell, the ink conveying pipe passes through the inner shell and is connected with the ink output head, and the driving module is used to drive the outer shell and the inner shell to move.

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

[0015] Further, the outer shell comprises an outer layer flexible section and an outer layer rigid section, the outer layer rigid section passes through the guide base and cooperates with the driving module, the inner shell comprises an inner layer flexible section and an inner layer rigid section, and the inner layer rigid section passes through the outer shell and cooperates with the driving module.

[0016] Further, a rod sleeve layer is sleeved on each of the outer layer driving rods and the inner layer driving rods, the rod sleeve layer comprises a flexible tube and a rigid tube, and the flexible tube and the rigid tube are arranged correspondingly with the flexible section and the rigid section of the shell.

[0017] Further, the driving module comprises a plurality of driving motors mounted on the support frame, a motor driver, a driving screw corresponding to each driving motor, an outer layer connecting block and an inner layer connecting block in transmission cooperation with the driving screw, the outer layer connecting block and the inner layer connecting block are staggered, the outer layer connecting block is connected with the outer layer driving rod, the inner layer connecting block is connected with the inner layer driving rod, and the outer layer connecting block and the inner layer connecting block can be driven to move along the driving screw.

[0018] Further, guide rails are arranged on both sides of the driving lead screw in the support frame, the outer connecting block and the inner connecting block are slidingly arranged on the guide rails, and end portions of the outer connecting block and the inner connecting block are provided with connecting holes for connecting with the outer driving rod and the inner driving rod respectively.

[0019] Further, end portions of the outer driving rod and the inner driving rod are provided with fixed stop rings, and the connecting holes are provided with limiting grooves for limiting the fixed stop rings.

[0020] Further, the bottom of the connecting hole is provided with a locking bolt, the top of the connecting hole is provided with a locking block, and the outer connecting block and the inner connecting block are provided with locking block stoppers for fixing the locking block.

[0021] Further, the ink extrusion device further comprises a gas filter communicated with the air pump, a gas distributor communicated with the gas filter, and a gas pipe communicated with the gas distributor, and the gas pipe is communicated with the ink cartridge.

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

[0023] 1. By controlling the cabinet, the positioning device moves the driving device, and the ink output head of the printing continuum robot on the driving device is aligned with the position to be printed, the air pump extrudes the bio-ink in the ink cartridge, and the bio-ink is transported to the ink output head through the ink delivery pipe, so as to ensure the stability of the whole bio-3D printing process, and at the same time, the driving module drives the printing continuum robot to stretch and retract, and the positioning device moves the whole driving device, so as to adjust the printing position, and at the same time, the outer shell and the inner shell are driven to stretch and retract by the rod, so as to significantly improve the stability during movement and the response speed during stretching and retracting.

[0024] 2. Based on the stretchable shell of the printing continuum robot, and at the same time, the shell is spliced by rigid sections and flexible sections, the influence of materials on the deformation process of the printing continuum robot is significantly reduced, so as to realize the free change from zero to any length in the working space, and improve the flexibility and adaptability in the bio-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 the operation, and at the same time, the inner flexible section and the outer flexible section effectively reduce the potential harm caused by accidental collision to the human body. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the specific embodiments or the prior art of the present application, the drawings needed to be used in the specific embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort.

[0027] Figure 1 Structure schematic diagram of an embodiment of the present application;

[0028] Figure 2 Structure schematic diagram of a printing continuum robot of an embodiment of the present application;

[0029] Figure 3 Exploded schematic diagram of a printing continuum robot of an embodiment of the present application;

[0030] Figure 4 Structure schematic diagram of a driving device of an embodiment of the present application;

[0031] Figure 5 Connection structure schematic diagram of a connecting block and a driving rod of an embodiment of the present application.

[0032] Explanation of reference signs:

[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 layer; 117, fixed stop ring; 118, locking bolt; 119, locking block; 12, ink output head; 13, ink conveying 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, driving module; 221, driving motor; 222, driving screw; 223, outer connecting block; 224, inner connecting block; 225, motor driver; 226, coupling; 227, sliding block; 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] Following, specific embodiments of the present application are illustrated by way of specific examples, and other advantages and effects of the present application can be easily understood by those skilled in the art from the disclosure of this specification. The present application can also be implemented or applied by other different specific embodiments, and various modifications or changes can be made to the details in this specification based on different views and applications without departing from the spirit of the present application.

[0035] The following description will be made in detail with reference to the accompanying drawings, which illustrate preferred embodiments of the present application. Figures 1-5 The present application is further described in detail.

[0036] The embodiment of the present application discloses a minimally invasive biological 3D printing robot system. Referring to Figures 1-5 The minimally invasive biological 3D printing robot system 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 telescopic shell 11, an ink output head 12 arranged at the end of the shell 11 and an ink conveying pipe 13 arranged in the shell 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 for driving the shell 11 to be telescopic; the ink extrusion device 3 comprises an air pump 31 and an ink cartridge 32 connected with 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 with the ink conveying pipe 13, and the air pump 31 is used for extruding the biological ink in the ink cartridge 32 through the ink conveying pipe 13; the positioning device 4 is connected with the support frame 21 and is used for moving the driving device 2, the positioning device 4 is a multi-axis rigid mechanical arm, and is used for transporting the printing continuum robot 1 to a specified position, so as to adapt to multiple types of working environments; the control cabinet 5 is used for controlling the system to run; through the control of the control cabinet 5, the positioning device 4 moves the driving device 2, the ink output head 12 of the printing continuum robot 1 on the driving device 2 is aligned with a part to be printed, the air pump 31 extrudes the biological ink in the ink cartridge 32, and the biological ink is transported to the ink output head 12 through the ink conveying pipe 13, so as to transport the biological ink to the printing part, thereby ensuring the stability of the entire biological 3D printing process, and through the driving of the driving module 22 to drive the printing continuum robot 1 to be telescopic and the movement of the positioning device 4 to move the entire driving device 2, the printing position can be adjusted, and the stability in the movement process and the response speed in the telescopic process are significantly improved.

[0037] In the embodiment, the shell 11 comprises a guide base 111 mounted on the support frame 21, an outer shell 112 slidingly arranged in the guide base 111, and an inner shell 113 slidingly arranged in the outer shell 112, the ink output head 12 is arranged at the end of the inner shell 113, the ink conveying pipe 13 is connected with the ink output head 12 through the inner shell 113, 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 mounted at the end of the support frame 21, the shell 11 passes through the guide base 111, one end of the shell 11 extends to the inside of the support frame 21, and the end provided with the ink output head 12 extends to the outside of the support frame 21; the outer shell 112 and the inner shell 113 of the shell 11 are matched with the driving module 22, the outer shell 112 is driven to slide in the guide base 111 by the driving module 22, 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 driven to move 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, and meanwhile, in order to avoid rotation of the outer shell 112 and the inner shell 113 during movement, the outer shell 112 and the inner shell 113 are both symmetrical anti-rotation structures, and anisotropy caused by structural asymmetry is prevented.

[0038] In the embodiment, a plurality of outer driving rods 114 are arranged in the outer shell 112, the end of the outer shell 112 extending out of one end of the support frame 21 is provided with an outer end cover 1123, one end of the outer driving rod 114 located in the outer shell 112 is fixedly connected with the outer end cover 1123, the outer driving rod 114 extending out of the outer shell 112 is matched with the driving module 22, the driving module 22 drives the outer driving rod 114, and the outer shell 112 is driven to move along the guide base 111 by the outer driving rod 114; a plurality of inner driving rods 115 are arranged in the inner shell 113, 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, one end of the inner driving rod 115 located in the inner shell 113 is fixedly connected with the inner end cover 1133, the inner driving rod 115 extending out of the inner shell 113 is matched with the driving module 22, the driving module 22 drives the inner driving rod 115, and the inner shell 113 is driven to move along the outer shell 112 by the inner driving rod 115; in the embodiment, the outer driving rod 114 and the inner driving rod 115 are both four, and are both made of nitinol super-elastic material.

[0039] In the embodiment, the outer shell 112 comprises an outer flexible section 1121 and an outer rigid section 1122, the outer rigid section 1122 is matched with the driving module 22 through the guide base 111, and an outer end cover 1123 is arranged at the end of the outer flexible section 1121; the inner shell 113 comprises an inner flexible section 1131 and an inner rigid section 1132, the inner rigid section 1132 is matched with the driving module 22 through the outer shell 112, and an inner end cover 1133 is arranged at the end of the inner flexible section 1131; the outer rigid section 1122 and the inner rigid section 1132 are both not beyond the end surface of the guide base 111 at the end of the support frame 21, so as to prevent the deformation of the outer flexible section 1121 and the inner flexible section 1131 from being affected, the outer shell 112 and the inner shell 113 at the end of the support frame 21 are made of flexible material to facilitate deformation, and the end in the support frame 21 is made of rigid material to effectively prevent the bending problem of the proximal end of the printing continuum robot 1 in the deformation process.

[0040] In the embodiment, the outer driving rod 114 and the inner driving rod 115 are both sleeved with a rod sleeve layer 116, the rod sleeve layer 116 comprises a flexible tube and a rigid tube, the flexible tube and the rigid tube are arranged corresponding to the flexible section and the rigid section of the shell 11 respectively, the length of the rigid tube of the rod sleeve layer 116 can wrap the driving rod from the part where the driving rod is stretched out of the inner rigid section 1132 and the outer rigid section 1122, and can increase the rigidity of the driving rod, so as to prevent the unexpected bending phenomenon of the outer driving rod 114 and the inner driving rod 115 from occurring at the part stretched out of the support frame 21, the flexible tube of the rod sleeve layer 116 wraps the remaining part of the driving rod except the part wrapped with the rigid tube, so as to prevent the unexpected deformation of the outer flexible section 1121 and the inner flexible section 1131 caused by the non-uniform diameter of the driving rod, and at the same time, the structure does not increase the rigidity of the outer flexible section 1121 and the inner flexible section 1131, so as to prevent the problems of difficult deformation and tearing of the flexible constraint material caused by too high rigidity.

[0041] In the embodiment, the driving module 22 comprises a plurality of driving motors 221 mounted on the support frame 21, a motor driver 225, a driving screw 222 corresponding to each driving motor 221, an outer connecting block 223 and an inner connecting block 224 in transmission cooperation with the driving screw 222. The output end of the driving motor 221 is provided with a shaft coupling 226, the driving screw 222 is connected with the driving motor 221 through the shaft coupling 226, the outer connecting block 223 and the inner connecting block 224 are arranged alternately, the outer connecting block 223 and the inner connecting block 224 are arranged around the ink conveying pipe 13, and the outer connecting block 223 and the inner connecting block 224 are not in the same plane. The outer connecting block 223 is connected with the outer driving rod 114, the inner connecting block 224 is connected with 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 drive the driving screw 222 to rotate, and the outer connecting block 223 and the inner connecting block 224 are driven to move. The outer connecting block 223 and the inner connecting block 224 move to drive the outer shell 112 and the inner shell 113 to move, so as to realize the telescopic movement of the shell 11.

[0042] In the embodiment, guide rails 228 are arranged on both sides of the driving screw 222 in the support frame 21, and sliding blocks 227 are arranged on the guide rails 228. The sliding blocks 227 are connected with 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 slidably arranged on the guide rails 228. The end face of the outer connecting block 223 and the inner connecting block 224 towards the center of the support frame 21 gradually narrows to an elongated strip shape and is 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 on the basis of ensuring linear movement of the outer driving rod 114 and the inner driving rod 115.

[0043] In the embodiment, the end of the outer driving rod 114 and the inner driving rod 115 is provided with a fixed stop ring 117, and a limiting groove for limiting the fixed stop ring 117 is arranged in the connecting hole. The limiting groove and the connecting hole form a T-shaped structure, and the fixed stop ring 117 is located in the limiting groove, so as to limit the outer driving rod 114 and the inner driving rod 115 in the connecting hole.

[0044] In the embodiment, the bottom of the connecting hole is provided with a locking bolt 118, and the top of the connecting hole is provided with a locking block 119, which is a half-circular tube spliced together and wrapped around the two 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 stop ring 177, facilitating installation, the locking bolt 118 is a thread structure without an end, and is detachably connected to the outer connecting block 223 and the inner connecting block 224 through threads on the basis of preventing collision, the outer connecting block 223 and the inner connecting block 224 are both provided with a locking block stop block 229 for fixing the locking block 119, the locking block stop block 229 is fixed on the connecting block through a bolt, so that the locking bolt 118 and the locking block 119 are pressed on the upper and lower sides of the fixed stop ring 177, the locking block 119 is prevented from sliding out by arranging the locking block stop block 229, and the locking bolt 118 and the locking block 119 fix the fixed stop ring 177 in the limiting groove, so as to reduce the influence of the gap between the limiting groove and the fixed stop ring 177 on the transmission process.

[0045] In the embodiment, the ink extrusion device 3 further comprises a gas filter 33 in communication with the gas pump 31, a gas distributor 34 in communication with the gas filter 33, and a gas pipe 35 in communication with the gas distributor 34, the gas pipe 35 being in communication with the ink cartridge 32, the gas filter 33 being used for filtering impurities in the gas and realizing drying of the gas, the gas passing through the gas filter 33 is introduced into the gas distributor 34 through the gas pipe 35, so as to realize controllable adjustment of the extrusion pressure of the gas.

[0046] In the embodiment, the support frame 21 comprises 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, lateral support bars 217, and a top support plate 218, the guide rail support plates 212, the motor support plate 213, the driver support frame 214, and the ink cartridge support plate 215 are fixedly connected to the bottom plate 211, the lateral support bars 217 are fixedly connected to the two sides between the motor support plate 213 and the ink cartridge support plate 215, and the top support plate 218 is fixedly connected to the top between the two guide rail support plates 212, so as to prevent structural deformation, the two ends of the guide rail 228 are fixed between the two guide rail support plates 212, the driving 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 through the ink cartridge fixing block 216.

[0047] The principles and implementation manners of the present application are described herein by using specific examples, and the above example descriptions are only used to help understand the method of the present application and its core idea. The above descriptions are only preferred embodiments of the present application, and it should be pointed out that, due to the limited nature of the language expression, there are objectively infinite specific structures, and for ordinary skilled persons in the technical field, some improvements, refinements or changes can be made without departing from the principles of the present application, and the above technical features can also be combined in an appropriate manner; these improvements, refinements, changes or combinations, or the direct application of the inventive concept and technical solution to other occasions without improvement, shall be regarded as the protection scope of the present application.

Claims

1. A minimally invasive biological 3D printing robot system, characterized by: The printing continuum robot (1), the driving device (2), the ink extrusion device (3), the positioning device (4) and the control cabinet (5) are included. The printing continuum robot (1) includes a telescopic shell (11), an ink output head (12) arranged at the end of the shell (11), and an ink conveying pipe (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), and the printing continuum robot (1) is arranged on the support frame (21), and the driving module (22) is used for driving the shell (11) to be telescopic. The ink extrusion device (3) includes an air pump (31) and an ink cartridge (32) connected with 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 with the ink conveying pipe (13), and the air pump (31) is used for extruding the bio-ink in the ink cartridge (32) through the ink conveying pipe (13). The positioning device (4) is connected with the support frame (21) and is used for moving the driving device (2). The control cabinet (5) is used for controlling the system to run. The shell (11) includes a guide base (111) mounted on the support frame (21), an outer shell (112) slidingly arranged in the guide base (111), and an inner shell (113) slidingly arranged in the outer shell (112), the ink output head (12) is arranged at the end of the inner shell (113), the ink conveying pipe (13) passes through the inner shell (113) and is connected with the ink output head (12), and the driving module (22) is used for driving the outer shell (112) and the inner shell (113) to move. A plurality of outer layer driving rod members (114) are arranged in the outer shell (112), the outer layer driving rod members (114) extend out of the outer shell (112) and cooperate with the driving module (22), a plurality of inner layer driving rod members (115) are arranged in the inner shell (113), and the inner layer driving rod members (115) extend out of the inner shell (113) and cooperate with the driving module (22). The outer shell (112) includes an outer layer flexible section (1121) and an outer layer rigid section (1122), the outer layer rigid section (1122) passes through the guide base (111) and cooperates with the driving module (22), the inner shell (113) includes an inner layer flexible section (1131) and an inner layer rigid section (1132), and the inner layer rigid section (1132) passes through the outer shell (112) and cooperates with the driving module (22).

2. The minimally invasive biological 3D printing robot system according to claim 1, characterized in that: The outer layer driving rod members (114) and the inner layer driving rod members (115) are each sleeved with a rod member sleeve layer (116), the rod member sleeve layer (116) includes a flexible pipe and a rigid pipe, and the flexible pipe and the rigid pipe are respectively arranged corresponding to the flexible section and the rigid section of the shell (11).

3. The minimally invasive biological 3D printing robot system according to claim 1, wherein: The driving module (22) comprises a plurality of driving motors (221) mounted on the support frame (21), a motor driver (225), a driving screw (222) corresponding to each driving motor (221), an outer connecting block (223) and an inner connecting block (224) in transmission cooperation with the driving screw (222), the outer connecting block (223) and the inner connecting block (224) are staggered, the outer connecting block (223) is connected with an outer layer driving rod (114), the inner connecting block (224) is connected with an inner layer driving rod (115), and the outer connecting block (223) and the inner connecting block (224) can be driven to move along the driving screw (222).

4. The minimally invasive biological 3D printing robot system of claim 3, wherein: The support frame (21) is provided with guide rails (228) on both sides of the driving screw (222), the outer connecting block (223) and the inner connecting block (224) are slidably arranged on the guide rails (228), and the end portions of the outer connecting block (223) and the inner connecting block (224) are provided with connecting holes for connecting with the outer layer driving rod (114) and the inner layer driving rod (115) respectively.

5. The minimally invasive biological 3D printing robot system of claim 4, wherein: The end portions of the outer layer driving rod (114) and the inner layer driving rod (115) are provided with fixed stop rings (117), and the connecting holes are provided with limiting grooves for limiting the fixed stop rings (117).

6. The minimally invasive biological 3D printing robot system of claim 5, wherein: The bottom of the connecting hole is provided with a locking bolt (118), the top of the connecting hole is provided with a locking block (119), and the outer connecting block (223) and the inner connecting block (224) are provided with locking block stop blocks (229) for fixing the locking block (119).

7. The minimally invasive biological 3D printing robot system of claim 1, wherein: The ink extrusion device (3) further comprises a gas filter (33) in communication with the air pump (31), a gas distributor (34) in communication with the gas filter (33), and a gas pipe (35) in communication with the gas distributor (34), and the gas pipe (35) is in communication with the ink cartridge (32).

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