Ureteral stent 3D printing control system and printing method

Abstract

The invention provides a ureteral stent 3D printing control system and method, and the ureteral stent 3D printing control system comprises a material extrusion control device, a roller control device, a displacement control device, a curing control device and a controller. The material extrusion control device comprises a hydrogel solution extrusion unit and a calcium chloride solution extrusion unit which are independently arranged and are used for respectively extruding a hydrogel solution and a calcium chloride solution to the surface of a rolling shaft of the rolling shaft control device so as to realize coaxial in-situ crosslinking; rotation and displacement of the rolling shaft are controlled through a program input by the controller, then curing is conducted through the curing control device, the hundred-micron hollow tubular stent is obtained, printing is accurate, adjustment is convenient, and various stents meeting clinical requirements can be prepared.

Description

Technical Field

[0001] The present invention relates to the technical field of production and manufacturing of hydrogel stents, and in particular to a ureteral stent 3D printing control system and a printing method. Background Art

[0002] As an important part of tissue engineering, scaffolds provide the necessary space and environment for cell growth. Their chemical composition and physical structure can affect cell activities, such as cell adhesion, migration, proliferation and differentiation. Hydrogels have good biocompatibility, degradability, hydrophilicity and strong ability to wrap cells, which makes hydrogels widely used in the construction of tissue engineering scaffolds. On the other hand, in some special applications, such as the manufacture of functional tissues and organs, particularly strict restrictions are placed on the porous morphology of the scaffold. The internal structure of the scaffold needs to be specially customized to obtain the desired geometric, mechanical and liquid transmission properties, and these properties are highly sensitive to local or overall changes in the scaffold (such as characteristic size and shape, volume ratio, etc.). Therefore, the preparation of the scaffold requires a precise manufacturing technology that can improve the controllability and repeatability of the scaffold parameters.

[0003] Three-dimensional bioprinting technology can non-toxicly and conveniently prepare fully connected three-dimensional structures according to pre-designed geometric structures, and has become a good tool for manufacturing biological scaffolds that can be cell-seeded or cell-encapsulated. The combination of hydrogel and 3D technology provides a design-related controllable solution for the development of tissue engineering scaffolds that can be cell-seeded / encapsulated. 3D technology belongs to biological three-dimensional printing technology and has been successfully used to manufacture porous hydrogel structures with reproducible morphological properties. However, the unique swelling properties of hydrogels and their different components cause significant differences in the structural morphological parameters after printing from the designed values. For example, Liu Feng et al. found that gelatin / sodium alginate composites would have salivation, excessive accumulation and fusion of pores during the forming process.

[0004] Hydrogel scaffolds. It was found that the mechanical properties of scaffolds printed with single-component hydrogels were poor, and local fractures of the scaffold support would occur, which seriously affected the practical application of the hydrogel scaffolds. Therefore, it is of great significance to study how to manufacture customized structures that match the expected morphological parameters as closely as possible. Summary of the invention

[0005] One advantage of the present invention is that it provides a ureteral stent 3D printing control system and printing method, which can print a directional tubular stent of the hundred-micron level.

[0006] Another advantage of the present invention is that it provides a ureteral stent 3D printing control system and printing method, which can print multi-layer hydrogel stent tubes. The material composition of each layer of the printed stent tube is the same, which is suitable for use in ureteral suture surgery and can control the oriented growth of cells so that the cells remain in a highly active and ordered state.

[0007] Another advantage of the present invention is that it provides a ureteral stent 3D printing control system and printing method, which has both horizontal linear movement and rotation axis. By changing the rotation axis speed and the axis size, the traction tension can be easily changed, thereby manufacturing a hollow tubular stent that meets the requirements.

[0008] Another advantage of the present invention is that it provides a ureteral stent 3D printing control system and printing method, which has accurate printing and fast printing speed. The printed stent has good biocompatibility, easy tensile yield, high mechanical tensile performance, double or multiple cross-linking mechanisms, and good anisotropic specificity, and is suitable for use as a stent in the human body.

[0009] Another advantage of the present invention is that it provides a ureteral stent 3D printing control system and printing method, and the rollers are replaceable. By replacing rollers of different diameters, when the extruded hydrogel solution and calcium chloride solution are solidified onto the surfaces of rollers of different diameters, tubular stents of different sizes can be obtained, which has a high degree of convenience and applicability.

[0010] Another advantage of the present invention is that it provides a ureteral stent 3D printing control system and printing method, which can input corresponding programs according to needs, thereby facilitating the manufacture of tubular stents that meet different clinical needs.

[0011] Another advantage of the present invention is that it provides a ureteral stent 3D printing control system and printing method, which is convenient for adjusting the rotation speed and displacement. The rotation speed and displacement can be adjusted according to the tubular stent required clinically, thereby being able to manufacture a tubular stent that meets diverse clinical needs.

[0012] Another advantage of the present invention is that it provides a ureteral stent 3D printing control system and printing method. The extrusion channels of the hydrogel solution and the calcium chloride solution are independently set, which is suitable for adjusting the extrusion speed of the two at any time during the printing process, thereby conveniently adjusting the ratio of the two inks.

[0013] According to one aspect of the present invention, the present invention provides a ureteral stent 3D printing control system, comprising:

[0014] A material extrusion control device, comprising a hydrogel solution extrusion unit, a calcium chloride solution extrusion unit and an outflow element, wherein the hydrogel solution extrusion unit and the calcium chloride solution extrusion unit are both connected to the outflow element, and the hydrogel solution and the calcium chloride solution are extruded into the outflow element and mixed before being further extruded;

[0015] A roller control device, comprising a roller control motor and a roller, wherein the roller control motor controls the rotation of the roller, and the hydrogel and calcium chloride are extruded onto the surface of the roller through the outflow element for coaxial in-situ cross-linking;

[0016] a displacement control device connected to the roller to control the movement of the roller;

[0017] a controller, the controller being connected to the roller control device and the displacement control device, and controlling the rotation and displacement of the roller through a program inputted by the controller; and

[0018] A curing control device, wherein the ultraviolet light emitted by the curing control device is suitable for irradiating and extruding the hydrogel solution and the calcium chloride solution onto the surface of the roller to achieve in-situ cross-linking, and after curing, a hollow ureteral multilayer tubular stent is obtained.

[0019] The ureteral stent 3D printing control system further includes a mounting shell, wherein the material extrusion control device, the roller control device, the displacement control device, the curing control device and the controller are all arranged in the mounting shell.

[0020] The ureteral stent 3D printing control system further includes a temperature control device, wherein the temperature control device is installed on the installation shell to control the working temperature of the entire ureteral stent 3D printing control system.

[0021] The roller control device further comprises a roller connecting unit, wherein the roller connecting unit is arranged on the mounting shell, and the roller is detachably connected to the roller connecting unit.

[0022] The displacement control device includes a displacement control motor, a displacement connection body, a translation base and a central control operation unit. The central control operation unit can be communicatively connected to the controller. The translation base, the displacement control motor and the central control operation unit are all arranged on the displacement connection body. The roller control motor and the displacement control motor are both arranged on the translation base. The rotation speed and rotation direction of the roller control motor and the moving speed and moving direction of the displacement control motor can all be adjusted by the central control operation unit.

[0023] The hydrogel solution extrusion unit comprises a hydrogel solution extrusion unit body, a hydrogel solution extrusion control element, a hydrogel solution extrusion needle, a hydrogel solution storage chamber, and a hydrogel solution extrusion pipeline, wherein the hydrogel solution extrusion control element, the hydrogel solution extrusion needle, and the hydrogel solution storage chamber are arranged on the hydrogel solution extrusion unit body, the hydrogel solution extrusion pipeline is arranged on the hydrogel solution extrusion needle, the hydrogel solution storage chamber is connected to the hydrogel solution extrusion pipeline, and the hydrogel solution extrusion control element is suitable for controlling the hydrogel solution to enter the hydrogel solution extrusion pipeline from the hydrogel solution storage chamber, and can control the extrusion speed of the hydrogel solution.

[0024] The calcium chloride solution extrusion unit comprises a calcium chloride solution extrusion unit body, a calcium chloride solution extrusion control element, a calcium chloride solution extrusion needle, a calcium chloride solution storage cavity, and a calcium chloride solution extrusion pipeline, wherein the calcium chloride solution extrusion control element, the calcium chloride solution extrusion needle, and the calcium chloride solution storage cavity are arranged on the calcium chloride solution extrusion unit body, the calcium chloride solution extrusion pipeline is arranged on the hydrogel solution extrusion needle, the calcium chloride solution storage cavity is connected to the calcium chloride solution extrusion pipeline, the calcium chloride solution extrusion control element is suitable for controlling the calcium chloride solution to enter the calcium chloride solution extrusion pipeline from the calcium chloride solution storage cavity, and can control the extrusion speed of the calcium chloride solution.

[0025] The hydrogel solution extrusion needle is laterally arranged above the roller, and the calcium chloride solution extrusion needle is longitudinally arranged above the roller. The extrusion speeds of the hydrogel solution and the calcium chloride solution are independently controlled and are extruded onto the roller surface respectively.

[0026] The size of the hydrogel solution extrusion pipeline is 17G, and the flow rate of the hydrogel solution is set to 0.5 ml / min. The size of the calcium chloride solution extrusion pipeline is 22G, and the flow rate of the calcium chloride solution is set to 0.4 ml / min.

[0027] The curing control device comprises an ultraviolet lamp and a connecting member, wherein the ultraviolet lamp is connected to the connecting member, and the irradiation direction of the ultraviolet lamp can be adjusted by adjusting the connecting member so that the ultraviolet light emitted by the ultraviolet lamp irradiates the area where the hydrogel solution and the calcium chloride solution are squeezed onto the roller.

[0028] The diameter of the roller is 1 mm, 2 mm, 3 mm, 5 mm or 10 mm.

[0029] The temperature control device controls the printing temperature of the ureteral stent 3D printing control system to 27-40°C.

[0030] According to another aspect of the present invention, the present invention also provides a ureteral stent 3D printing method, comprising the following steps:

[0031] (S10) the hydrogel solution and the calcium chloride solution are extruded onto a roller surface at a preset extrusion speed;

[0032] (S20) adjusting the rotation speed, rotation direction, movement direction and movement speed of the roller;

[0033] (S30) starting an ultraviolet lamp to irradiate the hydrogel solution and the calcium chloride solution extruded onto the roller; and

[0034] (S40) The hydrogel solution and the calcium chloride solution extruded onto the surface of the roller are coaxially cross-linked in situ, and after being cured, a hollow tubular scaffold of 100 micrometers is obtained.

[0035] The rotation speed of the roller is 66 rpm, the translation distance is set to 20,000 pulses, and the diameter of the roller is 1 mm, 2 mm, 3 mm, 5 mm or 10 mm.

[0036] In the above steps, 405 nm ultraviolet light is used for curing for 30 seconds. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a three-dimensional structural schematic diagram of a ureteral stent 3D printing control system according to a preferred embodiment of the present invention.

[0038] Figure 2 It is a schematic block diagram of the structure of the ureteral stent 3D printing control system according to the above preferred embodiment of the present invention.

[0039] Figure 3 It is a schematic diagram of the internal structure of the ureteral stent 3D printing control system according to the above preferred embodiment of the present invention.

[0040] Figure 4 It is a partial structural schematic diagram of the ureteral stent 3D printing control system according to the above preferred embodiment of the present invention.

[0041] Figure 5 It is a schematic diagram of the needle extrusion process included in the ureteral stent 3D printing control system according to the above preferred embodiment of the present invention.

[0042] Figure 6 It is a partial structural schematic diagram of the ureteral stent 3D printing control system according to the above preferred embodiment of the present invention.

[0043] Figure 7It is a structural schematic diagram of the material of the ureteral stent 3D printing control system according to the above preferred embodiment of the present invention being extruded onto the roller surface.

[0044] Figure 8 This is a physical picture of a hollow tubular stent prepared by the ureteral stent 3D printing control system and printing method according to the above preferred embodiment of the present invention. DETAILED DESCRIPTION

[0045] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art can think of other obvious variations. The basic principles of the present invention defined in the following description can be applied to other embodiments, variations, improvements, equivalents, and other technical solutions that do not deviate from the spirit and scope of the present invention.

[0046] Those skilled in the art should understand that, in the disclosure of the present invention, the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the above terms should not be understood as limiting the present invention.

[0047] It is to be understood that the term "one" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element may be one, while in another embodiment, the number of the element may be multiple, and the term "one" should not be understood as a limitation on the quantity.

[0048] Reference Figure 1 To Attachment Figure 8As shown, a ureteral stent 3D printing control system according to a preferred embodiment of the present invention is schematically illustrated. The ureteral stent 3D printing control system includes a material extrusion control device 10, a roller control device 20, a displacement control device 30, a temperature control device 40, a curing control device 50, a mounting shell 60 and a controller 70. The material extrusion control device 10, the roller control device 20, the displacement control device 30, the temperature control device 40, the curing control device 50 and the controller 70 are all installed in the mounting shell 60. The roller control device 20 and the displacement control device 30 are both connected to the material extrusion control device 10 to control the rotation and movement of the hydrogel control device 10. The temperature control device 40 is connected to the material extrusion control device 10 to cure the bio-ink from the hydrogel control device 10, and then under appropriate temperature and ultraviolet light, to manufacture a 100-micron-level directional tubular stent.

[0049] The material extrusion control device 10 includes a hydrogel solution extrusion unit 11, a calcium chloride solution extrusion unit 12 and an outflow element 13, wherein the hydrogel solution extrusion unit 11 and the calcium chloride solution extrusion unit 12 are both connected to the outflow element 13, wherein the hydrogel extruded by the hydrogel solution extrusion unit 11 and the calcium chloride solution extruded by the calcium chloride solution extrusion unit 12 can enter the outflow element 13, be mixed by the outflow element 13, and then be extruded and solidified.

[0050] Preferably, the hydrogel solution extrusion unit 11 is laterally connected to the outflow element 13, and the calcium chloride solution extrusion unit 12 is longitudinally connected to the outflow element 13, or in other words, the hydrogel solution extruded by the hydrogel solution extrusion unit 11 enters the outflow element 13 laterally, and the calcium chloride solution extruded by the calcium chloride solution extrusion unit 12 flows longitudinally into the outflow element 13, and the hydrogel solution entering longitudinally and the calcium chloride solution entering transversely meet at the outflow element 13 and are then further extruded through the outflow element 13.

[0051] It is worth mentioning that the hydrogel solution is a PGA hydrogel solution, wherein different concentrations of sodium alginate and polyethylene oxide are added to the PGA hydrogel solution, wherein the concentration of the calcium chloride solution (CaCl2 solution) is 0.8%, and rapid cross-linking is achieved through the combination of sodium alginate and calcium ions to prepare a 100-micrometer-level hollow tubular scaffold with better performance.

[0052] The hydrogel solution extrusion unit 11 comprises a hydrogel solution extrusion unit body 111, a hydrogel solution extrusion control element 112, a hydrogel solution extrusion needle 113, a hydrogel solution storage chamber 114, and a hydrogel solution extrusion pipeline 115. The hydrogel solution storage chamber 115 is arranged inside the hydrogel solution extrusion unit body 111, the hydrogel solution extrusion needle 113 is connected to the hydrogel solution extrusion unit body 111, the hydrogel solution extrusion pipeline 115 is arranged on the hydrogel solution extrusion needle 113, and the hydrogel solution storage chamber 114 is connected to the hydrogel solution extrusion pipeline 115. The hydrogel solution extrusion control element 112 is arranged on the hydrogel solution extrusion unit body 111 to control the hydrogel solution to enter the hydrogel solution extrusion pipeline 115 from the hydrogel solution storage chamber 114, and can control the extrusion speed of the hydrogel solution.

[0053] The calcium chloride solution extrusion unit 12 comprises a calcium chloride solution extrusion unit body 121, a calcium chloride solution extrusion control element 122, a calcium chloride solution extrusion needle 123, a calcium chloride solution storage cavity 124, and a calcium chloride solution extrusion pipeline 125. The calcium chloride solution storage cavity 125 is arranged inside the calcium chloride solution extrusion unit body 121, the calcium chloride solution extrusion needle 123 is connected to the calcium chloride solution extrusion unit body 121, the calcium chloride solution extrusion pipeline 125 is arranged on the calcium chloride solution extrusion needle 123, and the calcium chloride solution storage cavity 124 is connected to the calcium chloride solution extrusion pipeline 125. The calcium chloride extrusion control element 122 is arranged on the calcium chloride solution extrusion unit body 121 to control calcium chloride from the calcium chloride solution storage cavity 124 into the calcium chloride solution extrusion pipeline 125, and can control the extrusion speed of the calcium chloride solution.

[0054] It is worth mentioning that the hydrogel solution extrusion needle 113 and the calcium chloride solution extrusion needle 123 are coaxial needles, and the hydrogel solution extrusion needle 113 is the second axis, and the calcium chloride solution extrusion needle 123 is the first axis. When the PGA composite hydrogel is extruded from the second axis of the coaxial needle, the CaCl2 solution is extruded from the first axis of the coaxial needle. 2+ The rapid cross-linking property of the curing control device 50 is used to construct a tubular stent that can temporarily maintain a stable hollow space, and then the curing control device 50 is used to cross-link the ultraviolet light to form a stable tubular stent.

[0055] like Figures 6 to 8As shown, the outflow element 13 has a hollow pipe inside, which is longitudinally arranged above the roller 23. The hydrogel solution extrusion needle 113 and the calcium chloride solution extrusion needle 123 are both connected to the outflow element 13. The hydrogel solution and the calcium chloride solution are extruded into the outflow element 13. The outflow element 13 extrude the mixed hydrogel solution and calcium chloride solution from top to bottom onto the surface of the roller 23. Through the movement of the roller 23, the mixed hydrogel solution and calcium chloride solution are extruded to different positions of the roller 23 to obtain tubular stents of different degrees.

[0056] The outflow element 13 is made of opaque material and has a suitable length and size, so that the hydrogel solution and the calcium chloride solution can be mixed evenly without solidifying during the mixing process, thereby ensuring that a uniform and accurate tubular stent can be manufactured.

[0057] In addition, the hydrogel solution extrusion needle 113 is laterally arranged above the roller 23, and the calcium chloride solution extrusion needle 123 is longitudinally arranged above the roller 23, and the hydrogel solution extrusion needle 113 and the calcium chloride solution extrusion needle 123 are independently controlled. Therefore, during the extrusion process, the ratio of hydrogel and calcium chloride can be adjusted by adjusting the extrusion speed of the hydrogel solution extrusion needle 113 and the calcium chloride solution extrusion needle 123 separately. This method of adjusting the ratio of the two inks during the extrusion process is more practical and convenient, and the ink ratio of the two channels can be adjusted according to clinical practical needs. The ink can be extruded to the surface of the roller 23 in proportion according to the extrusion speed, and then coaxially cross-linked in situ, and cured under the light of the curing control device 50 to obtain the desired hollow tubular stent of hundreds of microns.

[0058] The roller control device 20 includes a roller control motor 21, a roller connecting unit 22 and at least one roller 23. The roller control motor 21 is arranged on the roller connecting element 22. The roller 23 is detachably connected to the roller connecting unit 22 and further connected to the roller control motor 21. The rotation of the roller 23 is controlled by the roller control motor 21.

[0059] The displacement control device 30 includes a displacement control motor 31, a displacement connection body 32, a translation base 33 and a central control operation unit 34. The displacement control motor 31 is connected to the translation base 33. The translation base 33, the displacement control motor 31 and the central control operation unit 34 are all arranged on the displacement connection body 32. The central control operation unit 34 is provided with a plurality of buttons, which can operate and control the displacement control motor 31 and the roller control motor 21. The central control operation unit 34 can be communicatively connected to the controller 70. The corresponding program can be input into the controller 70 through the central control operation unit 34 to adjust the roller control motor 21 and the displacement control motor 31, so as to control the rotation speed and translation speed of the roller 23 to obtain the desired tubular bracket.

[0060] The roller control motor 21 is arranged on the translation base 33, and the rotation speed and rotation direction of the roller control motor 21 can be adjusted by the central control operation unit 34. For example, when the roller 23 is installed on the roller connection unit 22, the head end of the roller 23 corresponds to the hydrogel extrusion needle 113 and the calcium chloride solution extrusion needle 123, and the hydrogel solution and the calcium chloride solution respectively extruded from the hydrogel solution extrusion needle 113 and the calcium chloride solution extrusion needle 123 are extruded to the head end of the roller 13, and are cured by the ultraviolet light of the control device 50, and the roller 23 rotates continuously, and the extruded hydrogel solution and calcium chloride solution are evenly covered on the surface of the roller 23. At this time, the roller 23 continues to move forward under the action of the displacement control motor 31, and the head end of the roller 23 gradually moves forward, and the extruded hydrogel solution and calcium chloride solution gradually cover the middle part of the roller 23. Therefore, the roller 23 moves forward while rotating, and a uniform hollow tubular stent can be manufactured.

[0061] Since the roller 23 is detachably connected to the roller connecting unit 22, the rollers 23 of different diameters and lengths can be replaced, thereby manufacturing hollow tubular stents of different sizes. The rollers 23 of the present invention have five diameters, namely, 1, 2, 3, 5, and 10 mm, which are highly convenient and applicable.

[0062] A programming program can be input into the controller 70 through the central control operation unit 33 to control the ureteral stent 3D printing control system of the present invention. The corresponding program can be input according to the tubular stent of clinical needs to manufacture a tubular stent that meets the needs. For example, the uniform displacement and uniform rotation of the roller 23 can be controlled by inputting the corresponding program, and the uniform extrusion of the hydrogel solution and the calcium chloride solution can be controlled to prepare a tubular stent with uniform thickness. The displacement speed and rotation speed of the roller 23 can also be controlled by inputting the corresponding program to produce a tubular stent with uneven thickness that meets the needs. For example, a tubular stent with a thicker section and a thinner section can be manufactured, or a tubular stent with a thicker side and a thinner side can be manufactured. Therefore, the ureteral stent 3D printing control system provided by the present invention can manufacture a variety of tubular stents, and is easy to adjust to meet the diverse clinical needs.

[0063] Taking unidirectional uniform motion as an example, the following program is input through the central control operation unit 33: "Insert-Edit-Enter" to enter the program editing interface, "00" is the first action, "speed"-speed, set to 130, press Enter to confirm; "01" is the second action, "G-len"-number of pulses, set to 20000, press Enter to confirm; "02" is the third action, "End"-end, press Enter to confirm, reset to return to the initial interface. When you need to use it, just "start". Through this program, a tubular stent with uniform thickness can be manufactured.

[0064] By analogy, by inputting other programs, other types of tubular stents can be manufactured to meet diverse clinical needs.

[0065] The temperature control device 40 is arranged inside the installation shell 60 and connected to the central control operation unit 33. The temperature control device 40 is adjusted by the central control operation unit 33 to control the temperature of the entire printing system, so that the material extrusion control device 10 maintains the required temperature throughout the process of extruding the hydrogel solution and the calcium chloride solution, and can adjust the internal temperature according to different materials, ambient temperature and requirements of the tubular bracket to manufacture a tubular bracket that meets the requirements.

[0066] In this embodiment, the temperature control device 40 is used to keep the ureteral stent 3D printing control system in the present invention in a constant temperature state, and the adjustable temperature range suitable for hydrogel stent printing is 27-40° C. In this embodiment, according to the material conditions, the temperature is controlled to be maintained at 37° C. to print a hollow tubular stent that meets the requirements.

[0067] The curing control device 50 is arranged at the top of the installation shell 60, wherein the curing control device 50 includes an ultraviolet lamp 51 and a connecting member 52, wherein the connecting member 52 is connected to the top of the installation shell 60, and the ultraviolet lamp 51 is arranged on the connecting member 52, and the connecting member 52 extends out of the top outside of the installation shell 60, and the connecting member 52 can be rotated from the outside to adjust the angle and irradiation direction of the ultraviolet lamp 51, so that the ultraviolet light emitted by the ultraviolet lamp 51 can be uniformly irradiated on the surface of the roller 23, and when a single piece of hydrogel solution is squeezed out, the ultraviolet light emitted by the ultraviolet lamp 51 can be uniformly irradiated on the surface of the roller 23. When the hydrogel solution extruded by the unit 11 and the calcium chloride solution extruded by the calcium chloride solution extrusion unit 12 are extruded onto the roller 23, the irradiation angle of the ultraviolet lamp 51 is aligned with the hydrogel solution and the calcium chloride solution extruded onto the roller 23, so that the sodium alginate and the calcium ions are quickly cross-linked, and then the extruded hydrogel solution and the calcium chloride solution are solidified onto the roller 23. As the roller 23 rotates and moves, the hydrogel solution and the calcium chloride solution are continuously extruded, and after extrusion, they are solidified onto the surface of the roller 23 by the ultraviolet light emitted by the ultraviolet lamp 51, thereby manufacturing a hollow tubular stent.

[0068] It is worth mentioning that in this embodiment, the application size of the hydrogel solution extrusion pipeline 115 is 17G, which serves as the second axis and is the extrusion channel of the PGA hydrogel. The application size of the calcium chloride solution extrusion pipeline 125 is 22G, which serves as the first axis and is the extrusion channel of a 0.8% calcium chloride aqueous solution. The flow rate of the hydrogel solution extrusion pipeline 115 is set to 0.5ml / min, and the flow rate of the calcium chloride solution extrusion pipeline 125 is set to 0.4ml / min. After the PGA hydrogel solution and the calcium chloride solution are extruded, the sodium alginate combines with the calcium ions and is rapidly cross-linked under the irradiation of the ultraviolet lamp 51 to produce a three-dimensional tubular stent.

[0069] The ureteral stent 3D printing control system of the present invention has both horizontal linear movement and rotation axis. By changing the rotation axis speed and roller size, the pulling stress can be conveniently changed. The rotation speed of the roller 23 selected in this embodiment is 66rpm, the translation distance is set to 20,000 pulses, and the diameter of the roller 23 is 5mm. After printing, it is cured under 405nm ultraviolet light for 30s to produce a 100-micron hollow tubular stent. After printing, the tubular stent is removed from the roller 23, and the printed stent can be observed by macro and fluorescence microscopes to verify whether it meets clinical needs.

[0070] In summary, the ureteral stent 3D printing control system provided by the present invention has both rolling and translation functions. The PGA composite hydrogel extrusion control part and the calcium chloride extrusion control part receive the printed tubular stent through the roller 23. The roller diameter can be easily replaced according to the printing requirements. The speed of the roller control motor 21 that controls the rotation of the roller 23 can also be adjusted to obtain tubular stents of different thicknesses. By fixing the roller control belt 21 to the translation base 33, the speed and distance of the translation can be adjusted, and tubular stents of different lengths can be obtained. In other words, the present invention can manufacture a hollow tubular stent that meets the requirements by matching the extrusion rate, roller diameter, roller speed and roller translation speed.

[0071] The present invention also provides a ureteral stent 3D printing method, comprising the following steps:

[0072] (S10) The hydrogel solution and the calcium chloride solution are extruded onto the surface of the roller 23 at a preset extrusion speed;

[0073] (S20) adjusting the rotation speed, rotation direction, movement direction and movement speed of the roller 23;

[0074] (S30) starting the ultraviolet lamp 51 to irradiate the hydrogel solution and the calcium chloride solution extruded onto the roller 23; and

[0075] (S40) The hydrogel solution and the calcium chloride solution extruded onto the surface of the roller 23 are coaxially cross-linked in situ, and after being cured, a hollow tubular stent of 100 micrometers is obtained.

[0076] The rotation speed of the roller is 66 rpm, the translation distance is set to 20,000 pulses, and the diameter of the roller is 1 mm, 2 mm, 3 mm, 5 mm or 10 mm.

[0077] In the above steps, 405 nm ultraviolet light is used for curing for 30 seconds.

[0078] In ureteral suturing surgery, due to the special environment of urine, the elasticity and pressure resistance of the supporting ureter used for suturing are required to be relatively high. The ureteral stent printed by the control system of the present invention can meet the application requirements, and can change the thickness by the number of layers, and change the diameter by replacing different rollers, thereby fully meeting the application requirements.

[0079] That is to say, the ureteral stent 3D printing control system and printing method of the present invention can accurately prepare a hollow tubular stent of hundreds of microns, and the prepared hollow tubular stent has good biocompatibility, easy tensile yield, high mechanical tensile performance, double or multiple cross-linking mechanism, good isotropic specificity, no cytotoxicity, and cells in large-size vascular stents show a morphology of high activity and orderly growth along the circumferential direction of the tube, so it is suitable for use as a stent in the human body.

[0080] It should be understood by those skilled in the art that the embodiments of the present invention described above and shown in the accompanying drawings are only examples and do not limit the present invention. The purpose of the present invention has been fully and effectively achieved. The functional and structural principles of the present invention have been demonstrated and explained in the embodiments, and the embodiments of the present invention may be deformed or modified in any way without departing from the principles.

Claims

1. A ureteral stent 3D printing control system, characterized in that: include: A material extrusion control device, comprising a hydrogel solution extrusion unit, a calcium chloride solution extrusion unit and an outflow element, wherein the hydrogel solution extrusion unit and the calcium chloride solution extrusion unit are both connected to the outflow element, and the hydrogel solution and the calcium chloride solution are extruded into the outflow element and mixed before being further extruded; A roller control device, comprising a roller control motor and a roller, wherein the roller control motor controls the rotation of the roller, and the hydrogel and calcium chloride are extruded onto the surface of the roller through the outflow element for coaxial in-situ cross-linking; a displacement control device connected to the roller to control the movement of the roller; a controller, the controller being connected to the roller control device and the displacement control device, and controlling the rotation and displacement of the roller through a program inputted by the controller; as well as A curing control device, wherein the ultraviolet light emitted by the curing control device is suitable for irradiating the hydrogel solution and the calcium chloride solution extruded onto the surface of the roller to achieve in-situ cross-linking, and after curing, a hollow ureteral multilayer tubular stent is obtained.

2. The ureteral stent 3D printing control system according to claim 1 further comprises a mounting shell, wherein the material extrusion control device, the roller control device, the displacement control device, the curing control device and the controller are all arranged in the mounting shell.

3. The ureteral stent 3D printing control system according to claim 2 further comprises a temperature control device, wherein the temperature control device is installed on the mounting shell to control the working temperature of the entire ureteral stent 3D printing control system.

4. The ureteral stent 3D printing control system according to any one of claims 1 to 3, wherein the roller control device further comprises a roller connection unit, the roller connection unit is arranged on the mounting shell, and the roller is detachably connected to the roller connection unit.

5. According to claim 4, the ureteral stent 3D printing control system, wherein the displacement control device comprises a displacement control motor, a displacement connection body, a translation base and a central control operation unit, the central control operation unit is communicatively connected to the controller, the translation base and the displacement control motor, and the central control operation unit are all arranged on the displacement connection body, the roller control motor and the displacement control motor are both arranged on the translation base, and the rotation speed and rotation direction of the roller control motor and the moving speed and moving direction of the displacement control motor can be adjusted by the central control operation unit.

6. The ureteral stent 3D printing control system according to claim 4, wherein the hydrogel solution extrusion unit comprises a hydrogel solution extrusion unit body, a hydrogel solution extrusion control element, a hydrogel solution extrusion needle, and a hydrogel solution storage cavity and a hydrogel solution extrusion pipeline, wherein the hydrogel solution extrusion control element, the hydrogel solution extrusion needle and the hydrogel solution storage cavity are arranged on the hydrogel solution extrusion unit body, the hydrogel solution extrusion pipeline is arranged on the hydrogel solution extrusion needle, the hydrogel solution storage cavity is connected to the hydrogel solution extrusion pipeline, and the hydrogel solution extrusion control element is suitable for controlling the hydrogel solution from the hydrogel solution storage cavity into the hydrogel solution extrusion pipeline, and can control the extrusion speed of the hydrogel solution.

7. The ureteral stent 3D printing control system according to claim 6, wherein the calcium chloride solution extrusion unit comprises a calcium chloride solution extrusion unit body, a calcium chloride solution extrusion control element, a calcium chloride solution extrusion needle and a calcium chloride solution storage cavity, a calcium chloride solution extrusion pipeline, wherein the calcium chloride solution extrusion control element, the calcium chloride solution extrusion needle and the calcium chloride solution storage cavity are arranged on the calcium chloride solution extrusion unit body, the calcium chloride solution extrusion pipeline is arranged on the hydrogel solution extrusion needle, the calcium chloride solution storage cavity is connected to the calcium chloride solution extrusion pipeline, the calcium chloride solution extrusion control element is suitable for controlling the calcium chloride solution from the calcium chloride solution storage cavity into the calcium chloride solution extrusion pipeline, and can control the extrusion speed of the calcium chloride solution.

8. The ureteral stent 3D printing control system according to claim 7, wherein the hydrogel solution extrusion needle is laterally arranged above the roller, and the calcium chloride solution extrusion needle is longitudinally arranged above the roller, and the extrusion speeds of the hydrogel solution and the calcium chloride solution are independently controlled and extruded onto the roller surface respectively.

9. The ureteral stent 3D printing control system according to claim 8, wherein the size of the hydrogel solution extrusion pipe is 17G, the flow rate of the hydrogel solution is set to 0.5ml / min, the size of the calcium chloride solution extrusion pipe is 22G, and the flow rate of the calcium chloride solution is set to 0.4ml / min.

10. The ureteral stent 3D printing control system according to claim 9, wherein the curing control device comprises an ultraviolet lamp and a connecting piece, the ultraviolet lamp is connected to the connecting piece, and the connecting piece is adjusted to adjust the irradiation direction of the ultraviolet lamp so that the ultraviolet light emitted by the ultraviolet lamp irradiates the area where the hydrogel solution and the calcium chloride solution are extruded onto the roller.

11. The ureteral stent 3D printing control system according to claim 10, wherein the diameter of the roller is 1 mm, 2 mm, 3 mm, 5 mm or 10 mm.

12. The ureteral stent 3D printing control system according to claim 11, wherein the temperature control device controls the printing temperature of the ureteral stent 3D printing control system to 27-40°C.

13. A 3D printing method for a ureteral stent, characterized in that: The following steps are involved: (S10) The hydrogel solution and the calcium chloride solution are extruded onto a roller surface at a preset extrusion speed; (S20) adjusting the rotation speed, rotation direction, movement direction and movement speed of the roller; (S30) starting an ultraviolet lamp to irradiate the hydrogel solution and the calcium chloride solution extruded onto the roller; as well as (S40) The hydrogel solution and the calcium chloride solution extruded onto the surface of the roller are coaxially cross-linked in situ, and after being cured, a hollow tubular scaffold of 100 micrometers is obtained.

14. The ureteral stent 3D printing method according to claim 13, wherein the rotation speed of the roller is 66 rpm, the translation distance is set to 20,000 pulses, and the diameter of the roller is 1 mm, 2 mm, 3 mm, 5 mm or 10 mm.

15. The ureteral stent 3D printing method according to claim 14, wherein in the above steps, 405 nm ultraviolet light is used for curing for 30 seconds.

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