Deep in-situ three-dimensional biological printing system and method based on spherical standing wave focused ultrasound

Abstract

The invention discloses a deep in-situ three-dimensional biological printing system and method based on spherical standing wave focused ultrasound, and the system comprises a spherical focusing system which is used for generating spherical internal standing wave focused ultrasound. The motion control system is used for controlling the position of a focused ultrasound focal region; the data processing system is used for acquiring an ultrasonic cavitation signal and analyzing and processing the ultrasonic cavitation signal to obtain a control signal; the spherical standing-wave focused ultrasound provided by the invention has better focusing performance than traveling-wave focused ultrasound, can realize spherical focused ultrasound 3D printing, can give consideration to both printing depth and printing precision, and has less focus offset in complex tissues. The sphere forms a spherical standing wave focusing cavity through two hemispherical transducers which are the same in size and opposite in position, and a focusing sound field is formed by overlapping sound waves directly radiated by a spherical surface and sound waves reflected by the spherical surface for multiple times; when the phases of the sound waves directly focused at the center of the sphere are the same as those of the sound waves reflected each time, very high sound pressure can be formed at the center of the sphere, and the focal region precision is improved.

Description

Technical Field

[0001] The present invention relates to the fields of tissue engineering technology, thermal curing technology and deep in-situ three-dimensional bioprinting technology, and in particular to a deep in-situ three-dimensional bioprinting system and method based on spherical standing wave focused ultrasound. Background Art

[0002] Trauma, disease and congenital malformations lead to tissue dysfunction or organ loss. With the development of tissue engineering, technical means for artificially constructing new tissues or organs in vitro or in vivo have gradually been formed, which has promoted a new revolution in treatment. In tissue engineering, cells taken from living bodies are cultured on biocompatible, degradable conformal biological scaffolds to obtain tissues or organs with the same structure and function as native tissues. Among them, three-dimensional (3D) bioprinting technology is applied to the construction of conformal biological scaffolds with complex and fine three-dimensional structures. At present, 3D bioprinting tissue engineering scaffolds are still limited to in situ printing under surgical implantation or trauma exposure. Both require exposure of the tissue area to be repaired, which will cause secondary damage and increase the risk of infection and rejection. The development of non-invasive in situ 3D bioprinting devices that can penetrate a large tissue depth and achieve high spatial precision is a major clinical need.

[0003] Regarding non-invasive in situ 3D bioprinting, predecessors have proposed 3D printing based on digital near-infrared photopolymerization, but the penetration depth of light waves in biological tissues is limited, so non-invasive in situ printing of deep tissues cannot be achieved. Compared with light, ultrasound has better tissue penetration ability. Mohsen Habibi et al. proposed direct acoustic printing, which is based on traveling wave focused ultrasound to trigger the sound-driven polymerization of polydimethylsiloxane monomers in its focal area by depositing energy, and can achieve non-contact long-distance printing. Xiao Kuang et al. achieved acoustic 3D printing of biological scaffolds by adjusting the viscosity of vinyl "bio-ink", enhancing sound absorption, and suppressing the acoustic micro-streaming effect in traveling wave focused ultrasound. The tissue penetration depth can reach 1.5-1.7cm. The related research was published in the journal Science and received widespread academic attention. In the above studies, traveling wave focused ultrasound was used to excite the "ink" cross-linking. However, traveling wave focused ultrasound has inherent technical limitations: (1) Its focal area is ellipsoidal in shape, and its focal area size in the axial direction is generally several wavelengths of sound waves (generally in the order of several millimeters to tens of millimeters), making it difficult to achieve fine axial printing. To achieve high-precision printing, the sound wave frequency needs to be increased, sacrificing the penetration depth of the sound wave; (2) After penetrating complex biological tissues, traveling wave focusing is prone to adverse phenomena such as focus shift and focus distortion, which will further affect the accuracy of in situ 3D bioprinting.

[0004] Therefore, penetrating thicker biological tissues to achieve high printing spatial accuracy is an important bottleneck issue restricting the development of 3D bioprinting technology based on focused ultrasound. Summary of the invention

[0005] In view of this, the purpose of the present invention is to provide a deep in situ three-dimensional bioprinting system based on spherical standing wave focused ultrasound, which uses spherical standing wave focused ultrasound to cause phase change in some materials through cavitation effect or thermal effect, and penetrates deep into biological tissue to realize in situ three-dimensional printing.

[0006] In order to achieve the above object, the present invention provides the following technical solutions: The deep in-situ three-dimensional bioprinting system based on spherical standing wave focused ultrasound provided by the present invention comprises a spherical focusing system, a motion control system, and a data processing system; The spherical focusing system is used to generate spherical internal standing wave focused ultrasound to print the target through effects such as ultrasonic cavitation; The motion control system is used to control the position of the focused ultrasound focal area of ​​the spherical focusing system, so that the focal area can move according to the designed route; The data processing system is used to collect ultrasonic cavitation signals and dynamic image monitoring signals of the printing process, and perform analysis and processing to obtain control signals for adjusting the spherical focusing system and the motion control system.

[0007] Furthermore, the spherical focusing system includes a spherical sound collector, an ultrasonic driving power supply, a passive cavitation detector, and a B-type ultrasonic diagnostic instrument; The spherical sound collector reflects the ultrasonic beam through the concave surface of the spherical cavity structure to form a spherical standing wave focused ultrasound, so that the energy is focused on the spherical geometric center of the spherical cavity structure; The ultrasonic driving power supply is used to supply energy to the spherical sound collector as needed to achieve the excitation of different types of ultrasonic waves; The passive cavitation detector is used to detect cavitation signals, monitor cavitation signals in real time, and feed the monitored cavitation signals back to the data processing system; The B-type ultrasonic diagnostic instrument is used to obtain dynamic image monitoring signals during the printing process and monitor the internal image of the object during printing in real time.

[0008] Furthermore, the ultrasonic driving power supply adopts adjustable frequency, duty cycle, and excitation parameters to achieve on-demand excitation of different types of ultrasonic waves.

[0009] Further, the motion control system includes a high-precision mechanical arm, a mechanical arm controller, a sealing device, and an elastic sealing coupling medium; The high-precision mechanical arm is used to drive the spherical sound collector so that the focus of the spherical sound collector can move as needed; The robotic arm controller is connected to the high-precision robotic arm and is used to send control commands to the high-precision robotic arm; The sealing device is used to prevent the elastic coupling medium from leaking out of the cavity; The elastic sealing coupling medium is used to propagate ultrasonic energy.

[0010] Further, the data processing system includes a data collector, a control and data analysis system; The data collector is used to collect and store cavitation signals; The control and data analysis system is used to receive dynamic image monitoring signals and cavitation signals; and dynamically monitor the printing process, evaluate the strength of cavitation and focus position information, so as to adjust the output power and movement speed in real time.

[0011] Furthermore, the spherical focusing system is provided with an area for placing the tissue to be printed, and the area is located at the geometric center of the spherical surface in the spherical cavity structure.

[0012] Furthermore, printing ink is provided in the tissue to be printed, and the printing ink is made of a thermosetting material or a material that undergoes a phase change after a sonochemical reaction.

[0013] Furthermore, the spherical sound collector includes two hemispherical transducers forming a spherical standing wave focusing cavity, the spherical surface of the hemispherical transducer is the ultrasonic emission surface and strong reflection surface, and the sound waves radiated from the spherical surface and the sound waves reflected multiple times by the spherical surface are superimposed to form a focused sound field.

[0014] Furthermore, the two hemispherical transducers have the same size and are located opposite to each other.

[0015] The present invention provides a three-dimensional bioprinting method implemented by a large number of deep in-situ three-dimensional bioprinting systems based on spherical standing wave focused ultrasound, comprising the following steps: Fix the spherical sound collector on a high-precision robotic arm; Inserting the tissue to be printed injected with printing ink into the spherical sound collector, and filling the remaining cavity portion with an elastic sealing coupling medium sealed by a sealing device; Sending a control command to the high-precision robotic arm through the motion control system; so that the high-precision robotic arm moves along a specified trajectory, thereby causing the spherical sound collector to move along a specified trajectory; The spherical sound collector is driven by an ultrasonic driving power supply, and the control and data analysis system controls the ultrasonic driving power supply to start or stop ultrasonic output and adjust the ultrasonic output power; The focal area is controlled to act on the printing ink in the tissue to be printed until the printing is completed.

[0016] The beneficial effects of the present invention are: The deep in-situ three-dimensional bioprinting system based on spherical standing wave focused ultrasound provided by the present invention has a better focusing performance than traveling wave focused ultrasound, can realize spherical focused ultrasound 3D printing, can take into account both printing depth and printing accuracy, and has less focus offset in complex tissues. It relies on a new type of spherical sound collector, which forms a spherical standing wave focusing cavity through two hemispherical transducers of the same size and relative positions (at this time, the surface of the transducer is both the emitting surface and the strong reflecting surface of the ultrasonic wave), and the focused sound field is superimposed by the sound wave directly radiated by the spherical surface and the sound wave reflected multiple times by the spherical surface; when the sound wave directly focused at the center of the sphere and the sound wave reflected each time have the same phase, a very high sound pressure can be formed at the center of the sphere, and the focal area accuracy is improved.

[0017] The system provided by the present invention takes into account both printing depth and printing accuracy, and uses a passive cavitation detector and a B-mode ultrasonic diagnostic instrument to monitor the printing process in real time. The system can penetrate complex biological tissues and accurately focus energy to form fine structures in the printing ink for in-situ conformal filling of defects and even construction of tissue engineering scaffolds.

[0018] Other advantages, objectives and features of the present invention will be described in the following description to some extent, and to some extent, will be obvious to those skilled in the art based on the following examination and study, or can be taught from the practice of the present invention. The objectives and other advantages of the present invention can be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to make the purpose, technical solution and beneficial effects of the present invention clearer, the present invention provides the following drawings for explanation.

[0020] Figure 1 It is a spherical focused ultrasound 3D printing system.

[0021] Figure 2 This is the spherical standing wave focused ultrasound 3D printing route.

[0022] Figure 3 The following is a schematic diagram of an application scenario of this system.

[0023] Figure 4 This is an example of the system penetrating biological tissue for printing.

[0024] In the figure, there are a high-precision robotic arm 101, a robotic arm controller 102, an elastic sealing coupling medium 103, printing ink 104, a passive cavitation detector 105, a spherical collector 106, a B-type ultrasonic diagnostic apparatus 107, a sealing device 108, a complex tissue 109, a data collector 110, an ultrasonic driving power supply 111, a control and data analysis system 112; skin 202, fat 203, muscle 204, a focused ultrasound focal area 205, a tissue area to be repaired 206, bones 207, and an ultrasonic beam 208. DETAILED DESCRIPTION

[0025] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0026] Example 1 like Figure 1 As shown, Figure 1 Spherical focused ultrasound 3D printing system. The deep in-situ three-dimensional bioprinting system based on spherical standing wave focused ultrasound provided in this embodiment includes a spherical focusing system, a motion control system, and a data processing system; The spherical focusing system is used to generate spherical standing wave focused ultrasound with adjustable frequency, power and ultrasound mode, and to cause cavitation effect and thermal effect by concentrating energy in the focal area, so as to solidify the printing ink and print the target; The motion control system is used to control the position of the focused ultrasound focal area of ​​the spherical focusing system, so that the focal area can move according to the designed route and accurately shape the shape of the printed part; The data processing system is used to monitor the printed images and cavitation signals in real time, collect B-ultrasound images and ultrasonic cavitation signals and analyze and process them, and obtain control signals for adjusting the spherical focusing system and the motion control system; The spherical focusing system includes a spherical sound collector 106, an ultrasonic driving power supply 111, a passive cavitation detector 105, and a B-type ultrasonic diagnostic instrument 107; The spherical sound collector 106 has a spherical cavity structure, which can make the ultrasonic beam reflect on the opposite concave surface, causing the phase of the beam to change in the opposite direction, and is used to form a spherical standing wave focused ultrasound, so that the energy is accurately focused on the geometric center of its spherical surface, and a temperature or cavitation environment that can cause the ink to solidify is generated; The spherical sound collector in this embodiment includes two hemispherical transducers of the same size and relative positions. The two hemispherical transducers constitute a spherical standing wave focusing cavity. The spherical surface of the hemispherical transducer is the emitting surface and strong reflecting surface of the ultrasonic wave. The sound waves radiated from the spherical surface and the sound waves reflected multiple times by the spherical surface are superimposed to form a focused sound field.

[0027] The ultrasonic driving power supply 111 is used to supply energy to the spherical sound collector 106 on demand, and can adjust the frequency, duty cycle, excitation parameters, etc. to achieve on-demand excitation of different types of ultrasonic waves; The passive cavitation detector 105 is used to detect cavitation signals, monitor the strength of cavitation signals in real time, observe the printing effect and feed back to the control and data analysis system 112 so as to adjust the printing parameters in real time; The B-mode ultrasonic diagnostic instrument 107 is used to obtain dynamic image monitoring signals of the printing process, monitor the internal image of the object during printing in real time, observe the printing effect and feed back to the control and data analysis system 112 so as to adjust the printing parameters in real time; The motion control system includes a high-precision mechanical arm 101, a mechanical arm controller 102, a sealing device 108, and an elastic sealing coupling medium 103; The high-precision mechanical arm 101 is used to drive the spherical sound collector 106 so that its focus can achieve high-precision movement as required; The robot arm controller 102 is connected to the high-precision robot arm 101 and is used to send control commands to the high-precision robot arm 101; The sealing device 108 is used to prevent the elastic coupling medium 103 from leaking out of the cavity; The elastic sealing coupling medium 103 is used to make the ultrasonic energy propagate smoothly with the smallest possible energy attenuation; The data processing system includes a data collector 110 and a control and data analysis system 112; The data collector 110 is used to collect and store cavitation signals; The control and data analysis system 112 is used to receive dynamic image monitoring signals and cavitation signals; and dynamically monitor the printing process, evaluate the strength of cavitation and focus position and other information, so as to adjust the output power and the movement speed in real time to ensure the printing accuracy; The deep in-situ three-dimensional bioprinting system based on spherical standing wave focused ultrasound provided in this embodiment works in the following manner: Fixing the spherical sound collector 106 on the high-precision mechanical arm 101; The tissue to be printed 109 injected with printing ink 104 is inserted into the spherical sound collector 106, and the remaining cavity portion is filled with an elastic sealing coupling medium 103 sealed by a sealing device 108; Sending a control command to the high-precision robot arm 101 through the motion control system; so that the high-precision robot arm 101 moves along a specified trajectory, thereby making the spherical sound collector 106 move along a specified trajectory; The spherical sound collector 106 is driven by an ultrasonic driving power supply 111, and the printing status is observed in real time by a passive cavitation detector 105 and a B-type ultrasonic diagnostic instrument 107. The ultrasonic driving power supply 111 is controlled by a control and data analysis system 112 to start or stop ultrasonic output and adjust ultrasonic output parameters; When the spherical sound collector 106 is driven by the ultrasonic driving power supply 111, the focal area generated by the spherical sound collector 106 should be within the range of the printing ink 104 in the tissue to be printed 109. The focal area is controlled to move in the printing ink 104 until the printing is completed.

[0028] The motion control system in this embodiment works in the following manner: the spherical sound collector 106 is fixed on the high-precision robot arm 101, the tissue to be printed 109 injected with printing ink 104 is inserted into the spherical sound collector 106, and the remaining cavity is filled with the elastic sealing coupling medium 103 sealed by the sealing device 108. The high-precision robot arm 101 is controlled by the robot arm controller 102 and the control and data analysis system 112; the control and data analysis system 112 sends a motion command to the robot arm controller 102 to make the high-precision robot arm 101 move along the specified trajectory, thereby making the spherical sound collector 106 move along the specified trajectory. The positioning accuracy is ≤0.001 mm, and the repeated positioning error can reach ±0.02 mm. The tissue to be printed 109 can be a complex tissue.

[0029] Therefore, the target area printing ink 104 and the spherical sound collector 106 can realize relative motion according to the designed route. Alternatively, in addition to using the high-precision mechanical arm 101, the motion control system can also use other motion mechanisms instead, such as a motion system composed of a stepper motor and a servo motor. Alternatively, the spherical sound collector 106 can also use phase control technology to adjust the focus position to ensure that the focus area can move according to the designed route.

[0030] The spherical focusing system in this embodiment works in the following manner: the spherical sound collector 106 is filled with an elastic sealing coupling medium 103 sealed by a sealing device 108. The spherical sound collector 106 is driven by an ultrasonic driving power supply 111, and the ultrasonic driving power supply 111 is controlled by a control and data analysis system 112 to start or stop the ultrasonic output and adjust the ultrasonic output power. The frequency of the spherical sound collector should be ≥20 kHz, preferably a higher frequency band; the output power is 0~1000W, which is selected according to actual conditions. The characteristics of spherical focused ultrasound are small focal area and concentrated energy. It can form a very high sound pressure at the center of the sphere, generate high temperature in the focal area, and the temperature generated at other positions is extremely low compared to the focal area. Therefore, the printing accuracy is extremely high. When the focal area acts on the printing ink 104 in the tissue 109 to be printed, its solidified size is ≤2λ, where λ represents the wavelength of the ultrasonic wave.

[0031] For the spherical sound collector 106, a common spherical sound collector, a phased spherical sound collector, etc. can be selected. The radius and opening size can be adjusted as needed. For the printing ink 104, a thermosetting material or a material that produces a phase change after a sonochemical reaction can be used, including but not limited to polydimethylsiloxane (PDMS), methacrylated gelatin (GelMa), etc. can be used. It can be filled into the printing position by injection or extrusion.

[0032] like Figure 2 As shown, Figure 2 For the spherical focused ultrasound 3D printing technology route, the control and data analysis system 112 converts the data format of the 3D model to be printed, performs slice calculations, and uses a path planning algorithm for path planning. Commonly used 3D printing path planning algorithms include Zigzag path planning algorithms, contour parallel algorithms, global continuous filling algorithms, etc. The planned path data is transmitted to the robot arm controller 102 to enable the high-precision robot arm to move according to the planned path. At the same time, the ultrasonic driving power supply 110 output is controlled to start printing layer by layer, and multiple layers are repeatedly printed to print out a complete 3D model.

[0033] In the above-mentioned 3D printing system, the printing material is embodied as a biocompatible thermal response or cavitation response phase change material, and is placed in a complex tissue. like Figure 3 As shown, Figure 3 This is a hypothetical application scenario of the system in transtissue printing. The printing ink 206 is delivered to the tissue area to be repaired by injection or pumping using an injection device 106. The ultrasonic beam 207 generated by the spherical collector 106 passes through the skin 202, fat 203, muscle 204, muscle 207, bone 205 and other tissues and reaches the focused ultrasound focal area 208 for focusing. Thermal effect and cavitation effect occur in the focal area, causing the material in the focal area to be permanently solidified. Combined with the motion control system, the focal area position is changed to achieve the in-situ 3D printing of the bracket 209 to promote tissue repair.

[0034] like Figure 4 As shown, Figure 4This is an experimental sample of the system printing PDMS polydimethylsiloxane through muscle tissue. The system provided in this embodiment is used to perform in-situ non-invasive, precise and fine 3D printing in complex tissues. The system uses a spherical standing wave focused ultrasound transducer. In terms of tissue penetration depth, the focusing method based on ultrasound (mechanical waves) is superior to the technology based on near-infrared light (electromagnetic waves) in principle. In terms of printing accuracy, spherical standing wave focused ultrasound produces a smaller in-phase area than the traveling wave by superimposing two opposite wavefronts of the standing wave, suppressing the diffraction effect that causes the distortion of the focused beam and forming a smaller focusing area; and the ultrasonic beam is reflected on the relative concave surface, causing the reverse change of the phase of the ultrasonic beam, which can achieve compensation of phase and focus offset when propagating in a multilayer medium, creating a smaller focus offset.

[0035] In summary, this embodiment uses a spherical standing wave focused ultrasonic transducer to construct a non-invasive in-situ 3D printing device, which has advantages that cannot be replaced by existing technologies. A 3D printing system based on a spherical standing wave focused transducer can achieve both printing depth and printing accuracy. At the same time, a monitoring system can perform real-time feedback monitoring.

[0036] The above-described embodiments are only preferred embodiments for fully illustrating the present invention, and the protection scope of the present invention is not limited thereto. Equivalent substitutions or changes made by those skilled in the art based on the present invention are within the protection scope of the present invention. The protection scope of the present invention shall be subject to the claims.

Claims

1. A deep in-situ three-dimensional bioprinting system based on spherical standing wave focused ultrasound, characterized by: Includes spherical focusing system, motion control system and data processing system; The spherical focusing system is used to generate spherical internal standing wave focused ultrasound to print the target through ultrasonic cavitation; The motion control system is used to control the position of the focused ultrasound focal area of ​​the spherical focusing system, so that the focal area can move according to the designed route; The data processing system is used to collect ultrasonic cavitation signals and dynamic image monitoring signals of the printing process and perform analysis and processing to obtain control signals for adjusting the spherical focusing system and the motion control system.

2. The deep in-situ three-dimensional bioprinting system based on spherical standing wave focused ultrasound according to claim 1, characterized in that: The spherical focusing system includes a spherical sound collector, an ultrasonic driving power supply, a passive cavitation detector and a B-type ultrasonic diagnostic instrument; The spherical sound collector reflects the ultrasonic beam through the concave surface of the spherical cavity structure to form a spherical standing wave focused ultrasound, so that the energy is focused on the spherical geometric center of the spherical cavity structure; The ultrasonic driving power supply is used to supply energy to the spherical sound collector as needed to achieve the excitation of different types of ultrasonic waves; The passive cavitation detector is used to detect cavitation signals, monitor cavitation signals in real time, and feed the monitored cavitation signals back to the data processing system; The B-type ultrasonic diagnostic instrument is used to obtain dynamic image monitoring signals during the printing process and monitor the internal image of the object during printing in real time.

3. The deep in-situ three-dimensional bioprinting system based on spherical standing wave focused ultrasound according to claim 2, characterized in that: The ultrasonic driving power supply adopts adjustable frequency, duty cycle and excitation parameters to realize on-demand excitation of different types of ultrasonic waves.

4. The deep in-situ three-dimensional bioprinting system based on spherical standing wave focused ultrasound according to claim 1, characterized in that: The motion control system includes a high-precision mechanical arm, a mechanical arm controller, a sealing device and an elastic sealing coupling medium; The high-precision mechanical arm is used to drive the spherical sound collector so that the focus of the spherical sound collector can move as needed; The robotic arm controller is connected to the high-precision robotic arm and is used to send control commands to the high-precision robotic arm; The sealing device is used to prevent the elastic coupling medium from leaking out of the cavity; The elastic sealing coupling medium is used to propagate ultrasonic energy.

5. The deep in-situ three-dimensional bioprinting system based on spherical standing wave focused ultrasound according to claim 1, characterized in that: The data processing system includes a data collector and a control and data analysis system; The data collector is used to collect and store cavitation signals; The control and data analysis system is used to receive dynamic image monitoring signals and cavitation signals; It also dynamically monitors the printing process, evaluates the strength of cavitation and focus position information, and adjusts the output power and movement speed in real time.

6. The deep in-situ three-dimensional bioprinting system based on spherical standing wave focused ultrasound according to claim 1, characterized in that: The spherical focusing system is provided with an area for placing the tissue to be printed, and the area is located at the geometric center of the spherical surface in the spherical cavity structure.

7. The deep in-situ three-dimensional bioprinting system based on spherical standing wave focused ultrasound according to claim 6, characterized in that: Printing ink is arranged in the tissue to be printed, and the printing ink is made of thermosetting material or a material that produces phase change after sonochemical reaction.

8. The deep in-situ three-dimensional bioprinting system based on spherical standing wave focused ultrasound according to claim 2, characterized in that: The spherical sound collector includes two hemispherical transducers forming a spherical standing wave focusing cavity. The spherical surface of the hemispherical transducer is the ultrasonic emission surface and strong reflection surface. The sound waves radiated from the spherical surface and the sound waves reflected multiple times by the spherical surface are superimposed to form a focused sound field.

9. The deep in-situ three-dimensional bioprinting system based on spherical standing wave focused ultrasound according to claim 8, characterized in that: The two hemispherical transducers have the same size and are located opposite to each other.

10. A three-dimensional bioprinting method implemented by using the deep in-situ three-dimensional bioprinting system based on spherical standing wave focused ultrasound according to any one of claims 1 to 9, characterized in that: The following steps are involved: Fix the spherical sound collector on a high-precision robotic arm; Inserting the tissue to be printed injected with printing ink into the spherical sound collector, and filling the remaining cavity portion with an elastic sealing coupling medium sealed by a sealing device; Sending a control command to the high-precision robotic arm through the motion control system; so that the high-precision robotic arm moves along a specified trajectory, thereby causing the spherical sound collector to move along a specified trajectory; The spherical sound collector is driven by an ultrasonic driving power supply, and the control and data analysis system controls the ultrasonic driving power supply to start or stop ultrasonic output and adjust the ultrasonic output power; The focal area is controlled to act on the printing ink in the tissue to be printed until the printing is completed.

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