Multifunctional bioactive scaffold and manufacturing device thereof

Abstract

A multifunctional bioactive scaffold manufacturing device comprises a scaffold printing module, a scaffold post-processing module, a scaffold energizing module, a scaffold assembly module, a control module and a transportation module; the control module controls the operation of the scaffold printing module, the scaffold post-processing module, the scaffold energizing module, the scaffold assembly module and the transportation module; the scaffold printing module is the first process; the scaffold post-processing module is located behind the scaffold printing module and is the second process; the scaffold energizing module is located behind the scaffold post-processing module and is the third process; the scaffold assembly module is located behind the scaffold energizing module and is the fourth process; and the transportation module transports the scaffold in the order of the processes and is adjacent to the scaffold printing module, the scaffold post-processing module, the scaffold energizing module and the scaffold assembly module. The present application realizes the on-demand personalized manufacturing of multifunctional bioactive scaffolds in a semi-automatic manner and can be applied to mass production.

Description

Technical Field

[0001] This invention relates to the field of bioactive scaffold manufacturing technology, and in particular to a multifunctional bioactive scaffold and its manufacturing apparatus. Background Technology

[0002] With the continuous development of medical technology, bioactive scaffolds are playing an increasingly important role in bone repair. They not only have good bioactivity, but also promote bone tissue regeneration and have good bonding properties with surrounding bone, ensuring the stability of the bone repair scaffold at the bone defect site.

[0003] Most existing multifunctional bioactive scaffolds achieve their multifunctionality through multiple immersions or ion doping. The result is often that different functions are achieved layer by layer or the scaffold as a whole has several functions. This not only makes the process complex and cumbersome but also results in a low degree of personalization, making it unsuitable for personalized medicine and unable to be mass-produced. On the other hand, there is currently no manufacturing equipment that can achieve personalized manufacturing and efficient production of multifunctional bioactive scaffolds.

[0004] Therefore, there is a need for a multifunctional bioactive scaffold and its manufacturing apparatus. This multifunctional bioactive scaffold is highly customizable and easy to manufacture on a large scale. The manufacturing apparatus can realize the on-demand personalized manufacturing of multifunctional bioactive scaffolds, and while ensuring scaffold quality, it has high manufacturing efficiency and can be applied to mass production. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a multifunctional bioactive scaffold manufacturing device.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A multifunctional bioactive scaffold manufacturing device includes: a scaffold printing module 1, a scaffold post-processing module 3, a scaffold energizing module 4, a scaffold assembly module 5, a control module 2, and a transport module 6; the scaffold energizing module 4 includes a scaffold anti-tumor energizing unit 41; a scaffold osteogenic energizing unit 42; and a scaffold antibacterial energizing unit 43.

[0008] The bracket printing module 1 includes a 3D printer 11 and a feeding area 12;

[0009] The control module 2 is used to control the operation of the bracket printing module 1, the bracket post-processing module 3, the bracket empowerment module 4, the bracket assembly module 5 and the transportation module 6.

[0010] The feeding area 12 is used to add bioceramic ink. The bioceramic ink enters the 3D printer 11 through the feeding area 12 for printing to obtain product one. The transport module 6 is used to transport product one to the scaffold post-processing module 3 for processing to obtain product two. Product two is transported through the transport module 6 to the scaffold empowerment module 4 for processing to obtain scaffold functional unit 52. Several scaffold functional units 52 are transported through the transport module 6 to the scaffold assembly module 5 for processing to obtain the multifunctional bioactive scaffold.

[0011] Preferably, the 3D printer 11 includes a fixed frame 111, a slide 112 is provided on the fixed frame 111, a flipping mechanism 113 is provided on the slide 112, a forming platform 114 is provided on the flipping mechanism 113, a scraper 115 and a material trough 116 are also provided on the fixed frame 111, and a DLP projector 117 is provided directly below the material trough 116.

[0012] Preferably, the post-processing module 3 of the support includes an anhydrous ethanol cleaning unit 31, a drying unit 32, a high-temperature calcination unit 33, and a cooling unit 34.

[0013] The product processed by the anhydrous ethanol cleaning unit 31 is transported to the drying unit 32 by the picking robot 62. The product processed by the drying unit 32 is then transported to the high-temperature calcination unit 33 by the picking robot 62. The product processed by the high-temperature calcination unit 33 is then transported to the cooling unit 34 by the picking robot 62.

[0014] During operation, the control module controls the picking robot next to the post-processing module of the support to put the support, which is the first product, into anhydrous ethanol for cleaning. After the support is cleaned for 3 minutes, it is placed in the drying oven to dry. After drying, the support is placed in the calcining furnace for high-temperature calcination. After high-temperature calcination, the support is taken out and cooled. After cooling, the support is transferred to the transport module to be transported to the next process.

[0015] Furthermore, the drying temperature is 50℃-60℃, the drying time is 3-5 hours, the high-temperature calcination temperature is 1000℃-1200℃, and the high-temperature calcination time is 3-5 hours.

[0016] Preferably, the scaffold antitumor empowerment unit 41 includes an injection unit 44 and an antitumor hydrogel, wherein the antitumor hydrogel is loaded with any one of bisphosphonates, doxorubicin, cisplatin and methotrexate;

[0017] The scaffold-promoting bone-enhancing unit 42 includes an injection unit 44 and a bone-promoting hydrogel, wherein the bone-promoting hydrogel is loaded with either SDF-1 or BMP-2 growth factors.

[0018] The scaffold antibacterial empowerment unit 43 includes an injection unit 44 and an antibacterial hydrogel, wherein the antibacterial hydrogel is loaded with any one of tetracycline and vancomycin antibiotics.

[0019] Preferably, the injection unit 44 includes a support frame 441, a movable frame 442 is mounted on the support frame 441, a stepper motor 443 is mounted on the movable frame 442, a syringe 444 is mounted on the stepper motor 443, and an injection platform 445 is also mounted on the support frame 441; the injection platform 445 corresponds to the syringe 444.

[0020] During operation, the control module controls the robotic arm next to the scaffold empowerment module to place the scaffold, which is product two, onto the injection platform. Then, the movable frame descends, and the control module controls the stepper motor of the injection unit in the empowerment unit where the scaffold is located to start, so that the syringe automatically injects anti-tumor hydrogel, osteogenic hydrogel, or antibacterial hydrogel into the scaffold to achieve scaffold empowerment. After empowerment is completed, the manufactured scaffold functional unit is obtained. Then the movable frame moves upward to wait for the next empowerment operation.

[0021] Preferably, the surface of the bracket functional unit 52 is provided with a plug-in groove, and the bracket assembly module 5 includes a material feeding area 53 and an assembly plate 51. The surface of the assembly plate 51 is provided with plug-in protrusions that are adapted to the plug-in groove.

[0022] The assembly plate 51 is made of biomaterials, which are any one of calcium magnesium phosphate, calcium silicate, tricalcium phosphate and hydroxyapatite. The shape of the assembly plate 51 is set such that when the support functional unit 52 is assembled on it, the overall shape is consistent with the damage shape of the patient's bone defect obtained by medical imaging equipment.

[0023] Preferably, the transport module 6 includes a conveying unit 61 and four picking robots 62; the conveying unit 61 includes a chain conveyor belt 613, which is driven by a motor 614. A support tray 611 is mounted on the chain conveyor belt 613, which is supported by a conveyor belt support. Four positioning units 612, named Positioning Unit 1, Positioning Unit 2, Positioning Unit 3, and Positioning Unit 4, are fixedly installed on the conveyor belt support; the four picking robots 62 are named Robotic Arm 1, Robotic Arm 2, Robotic Arm 3, and Robotic Arm 4; Robotic Arm 1 is installed at a corresponding position on the support printing module 1, Robotic Arm 2 is installed at a corresponding position on the support post-processing module 3, Robotic Arm 3 is installed at a corresponding position on the support empowerment module 4, and Robotic Arm 4 is installed at a corresponding position on the support assembly module 5; the installation positions of Positioning Unit 1, Positioning Unit 2, Positioning Unit 3, and Positioning Unit 4 correspond to those of Robotic Arm 1, Robotic Arm 2, Robotic Arm 3, and Robotic Arm 4, respectively.

[0024] When the support tray 611 moves to the position of the positioning unit 1 along the chain conveyor belt 613, the positioning unit 1 locks the support tray 611, the robot arm 1 is used to transfer the product 1 onto the support tray 611, and the positioning unit 1 releases the support tray 611, so that the support tray 611 moves with the conveyor belt.

[0025] When the support tray 611 moves to the position of the positioning unit 2 along the chain conveyor belt 613, the positioning unit 2 locks the support tray 611. After the robot arm 2 transfers the product 1 to the support post-processing module 3 for processing, the robot arm 2 transfers the product 2 to the support tray 611. The positioning unit 2 releases the support tray 611, allowing the support tray 611 to move with the conveyor belt.

[0026] When the support tray 611 moves to the position of the positioning unit three along the chain conveyor belt 613, the positioning unit three locks the support tray 611. After the robot arm three transfers the product two to the support empowerment module 4 for processing, the robot arm three transfers the support functional unit 52 to the support tray 611. The positioning unit three releases the support tray 611, allowing the support tray 611 to move with the conveyor belt.

[0027] When the support tray 611 moves to the position of the positioning unit four along the chain conveyor belt 613, the positioning unit four locks the support tray 611, and the robotic arm four transfers the support functional unit 52 to the support assembly module 5 for processing.

[0028] Preferably, the support tray 611 is provided with a groove, the front of the support tray 611 is provided with a buffer block 6111, and the rear of the support tray 611 is provided with a collision-resistant block 6112.

[0029] The positioning unit 612 includes a positioning cylinder 6122 and a stop block 6121; the positioning cylinder 6122 is fixedly installed on the conveyor belt support, and the positioning cylinder 6122 is equipped with a stop block 6121 that can move with the piston.

[0030] Furthermore, the support tray may have three grooves, or even two, or even one groove.

[0031] During operation, the anti-collision block is used to prevent two adjacent support trays from colliding, and the buffer block is used to cooperate with the positioning unit to position the support tray. When the support tray moves above the positioning unit, the positioning cylinder on the conveyor belt support drives the stop block to rise through the guide rod, so that the support tray is positioned next to the picking robot.

[0032] Preferably, the feed tank 116 contains bioceramic ink, which comprises 50% to 60% by mass of biomaterials, with the remainder being photosensitive resin; the biomaterials are any one of calcium magnesium phosphate, calcium silicate, tricalcium phosphate, and hydroxyapatite.

[0033] During operation, workers place bioceramic ink into the material tank in the feeding area. Then, a 3D model of one or more scaffolds, designed based on the patient's lesion shape obtained from medical imaging equipment, can be imported into the control module. Upon starting the 3D printer, the forming platform automatically descends to a position 2mm from the bottom of the material tank. The control module then controls the DLP projector to project slice images of the model in a controlled manner. After the first layer is printed, the forming platform rises by the thickness of one slice, and the scraper descends to a position 1mm from the bottom of the material tank. The material tank then rotates one full turn, and the scraper rises, completing the first layer printing for this batch of scaffolds. This process is repeated; with each cured layer, the slide lifts the forming platform and the printed part by the thickness of one slice, continuing in a cyclical manner until all layers are printed. After all scaffolds in this batch are printed, the forming platform automatically rises to its highest position. Then, a flipping mechanism rotates the forming platform 180 degrees so that the side with the scaffolds is facing upwards. After all scaffolds are transferred to the transport module, the flipping mechanism rotates the forming platform 180 degrees back to its initial position, and the above operation is repeated to begin printing the next batch of scaffolds.

[0034] During operation, the control module can perform personalized assembly and manufacturing of the multifunctional bioactive scaffold required by the patient based on the patient's bone defect model obtained from medical imaging equipment and the patient's medical record. First, the specific shape and size of the assembly plate, as well as the number and assembly positions of the scaffold functional units to be assembled on the upper part of the assembly plate, are determined according to the shape of the bone defect in the patient's bone defect model. Then, the specific function of the scaffold functional unit at each position is selected according to the patient's specific medical record. Finally, the scaffold assembly module is controlled to assemble each scaffold functional unit, and finally, the manufactured multifunctional bioactive scaffold is obtained.

[0035] The multifunctional bioactive scaffold manufacturing device of the present invention can manufacture multifunctional bioactive scaffolds in a semi-automatic and efficient manner. At the same time, it can automatically perform personalized manufacturing according to different bone defect shapes and medical records of different patients, making it perfectly suitable for personalized medicine.

[0036] The multifunctional bioactive scaffold manufacturing device of the present invention can manufacture a multifunctional bioactive scaffold. By assembling any scaffold at different locations, the mechanical properties, structure, function, porosity, shape, and drug concentration gradient at any location can be personalized according to the patient's injury condition. The internal mechanical properties of the scaffold can be low, the external mechanical properties can be high, or specific mechanical properties can be present at any location on the scaffold. The internal structure of the scaffold can be porous, the external structure can be solid, or specific structures can be present at any location on the scaffold. The internal function of the scaffold can be bone-promoting, the external function can be anti-tumor or antibacterial, or both anti-tumor and antibacterial functions, or bone-promoting, anti-tumor, or antibacterial functions can be present at any location on the scaffold. The internal porosity of the scaffold can be low, the external porosity can be high, or specific porosity can be present at any location on the scaffold. The shape of the scaffold can be assembled into any shape as needed, such as triangle, polygon, circle, etc. The scaffold can place scaffold units with different drug amounts or concentrations at any location to form scaffolds with arbitrary drug concentration gradients.

[0037] This invention manufactures a multifunctional bioactive scaffold, with the following manufacturing process: First, a three-dimensional model of one or more scaffolds designed based on a patient's bone defect model is imported into the control module. Then, a worker places pre-prepared bioceramic ink into a material tank in the loading area, and the scaffold printing module begins printing the scaffold. After printing, the scaffold is transported to the scaffold post-processing module via a transport module for post-processing. After post-processing, it is transported to the scaffold empowerment module via another transport module. The control module analyzes the patient's medical records to determine the types and quantities of different scaffold functional units to be assembled, and then empowers the scaffold as needed. It is then transported to the scaffold assembly module via another transport module. The control module assembles the scaffold as needed based on the patient's bone defect model obtained from medical imaging equipment and the patient's medical records. After assembly, the manufactured multifunctional bioactive scaffold is obtained in the unloading area, where a worker unloads it. Except for loading and unloading, all four processes are completed automatically in a streamlined operation.

[0038] The present invention also provides a multifunctional bioactive scaffold, wherein the specific shape and size of the multifunctional bioactive scaffold are consistent with the shape and size of the bone defect in the patient; the multifunctional bioactive scaffold includes an assembly plate 51 and several functional layers; the bottom layer of the multifunctional bioactive scaffold is the assembly plate 51, and the several functional layers are disposed on top of the assembly plate 51.

[0039] The functional layer is formed by interlocking and assembling several support functional units 52.

[0040] The functional layers are connected to each other via plug-in assembly.

[0041] The functional layer and the assembly plate 51 are connected by plug-in assembly;

[0042] The plug-in assembly is completed by interlocking the plug-in protrusions and the plug-in grooves that are adapted to the plug-in protrusions;

[0043] The support functional unit 52 has a porous structure with a porosity of 60%-70% and a pore size of 300μm-500μm. The support functional unit 52 is provided with a insertion groove. The center of the insertion groove of the support functional unit 52 is provided with a through hole with a size of 100μm-200μm, which is consistent with the size of the syringe 444.

[0044] The scaffold functional units can be assembled at any position on the assembly plate via the scaffold assembly module, enabling the multifunctional bioactive scaffold to have any function at any position. Existing multifunctional scaffolds often achieve certain functions layer by layer through multiple soaking or achieve certain functions as a whole through ion doping, which cannot achieve the effect of the scaffold having any function at any position. Therefore, their degree of personalization is low. On the other hand, this multifunctional bioactive scaffold is manufactured by modular assembly of scaffold functional units, which greatly improves the production efficiency of multifunctional bioactive scaffolds and can be applied to large-scale production.

[0045] Compared with the prior art, the present invention has the following advantages:

[0046] I. The device of the present invention enables the on-demand personalized manufacturing of multifunctional bioactive scaffolds.

[0047] Second, the device of this invention achieves semi-automatic manufacturing of multifunctional bioactive scaffolds through the coordination of four processes. The entire manufacturing process only requires manual handling of the loading and unloading steps to complete the entire assembly process, with almost no physical exertion. This greatly reduces the factory's labor costs and significantly minimizes the loss of raw materials and defective products that may be caused by insufficient worker skills. At the same time, the quality of the scaffold is guaranteed, the manufacturing efficiency is high, and it can be applied to mass production.

[0048] Third, the multifunctional bioactive scaffold of the present invention has a high degree of personalization. The scaffold functional units in its composition structure are manufactured in a modular manner, which can greatly improve the scaffold production efficiency. Attached Figure Description

[0049] Figure 1 This is a schematic diagram of a multifunctional bioactive scaffold manufacturing device according to the present invention;

[0050] Figure 2 This is a schematic diagram of the process for manufacturing a multifunctional bioactive scaffold according to the present invention;

[0051] Figure 3 This is a schematic diagram of the structure of the 3D printer of the present invention;

[0052] Figure 4 This is a schematic diagram of the transmission unit structure of the present invention;

[0053] Figure 5 This is a schematic diagram of the support tray structure of the present invention;

[0054] Figure 6 This is a schematic diagram of the positioning unit structure of the present invention;

[0055] Figure 7 This is a schematic diagram of the injection unit structure of the present invention;

[0056] Figure 8 This is a schematic diagram of the multifunctional bioactive scaffold structure of the present invention;

[0057] Figure 9 This is a schematic diagram of the polygonal multifunctional bioactive scaffold structure of the present invention;

[0058] Figure 10 This is a schematic diagram of the circular multifunctional bioactive scaffold structure of the present invention.

[0059] In the diagram: 1 is the stent printing module, 2 is the control module, 3 is the stent post-processing module, 4 is the stent empowerment module, 5 is the stent assembly module, 6 is the transportation module, 11 is the 3D printer, 12 is the feeding area, 111 is the fixing frame, 112 is the slide table, 113 is the flipping mechanism, 114 is the forming platform, 115 is the scraper, 116 is the material trough, 117 is the DLP projector, 31 is the anhydrous ethanol cleaning unit, 32 is the drying unit, 33 is the high-temperature calcination unit, 34 is the cooling unit, 41 is the stent anti-tumor empowerment unit, and 42 is the stent... The frame is a bone-enhancing unit, 43 is an antibacterial empowering unit, 44 is an injection unit, 441 is a support frame, 442 is a movable frame, 443 is a stepper motor, 444 is a syringe, 445 is an injection platform, 51 is an assembly plate, 52 is a support functional unit, 53 is a feeding area, 61 is a conveying unit, 62 is a picking robot, 611 is a support tray, 612 is a positioning unit, 613 is a chain conveyor belt, 614 is a motor, 6111 is a buffer block, 6112 is a collision prevention block, 6121 is a stop block, and 6122 is a positioning cylinder. Detailed Implementation

[0060] The embodiments of the present invention are described in detail below. These embodiments are implemented based on the technical solution of the present invention and provide detailed implementation methods and specific operation processes. However, the scope of protection of the present invention is not limited to the following embodiments.

[0061] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0062] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0063] like Figure 1 As shown, a multifunctional bioactive scaffold manufacturing device includes: a scaffold printing module 1, a scaffold post-processing module 3, a scaffold energizing module 4, a scaffold assembly module 5, a control module 2, and a transportation module 6.

[0064] The control module 2 controls the operation of the support printing module 1, the support post-processing module 3, the support empowerment module 4, the support assembly module 5 and the transportation module 6, and the modules are seamlessly connected.

[0065] The bracket printing module 1 is the first process;

[0066] The bracket post-processing module 3 is located behind the bracket printing module 1 and is the second process.

[0067] The support empowerment module 4 is located after the support post-processing module 3 and is the third process.

[0068] The bracket assembly module 5 is located after the bracket empowerment module 4 and is the fourth process.

[0069] The transport module 6 is adjacent to the bracket printing module 1, the bracket post-processing module 3, the bracket empowerment module 4, and the bracket assembly module 5, and transports the brackets in the order of the processes.

[0070] like Figure 3 As shown, the support printing module 1 includes a 3D printer 11 and a feeding area 12; the 3D printer 11 includes a fixed frame 111, a slide 112 mounted on the fixed frame 111, a flipping mechanism 113 mounted on the slide 112, a forming platform 114 fixedly mounted below the flipping mechanism 113, a scraper 115 mounted on the fixed frame 111, a material trough 116 mounted on the fixed frame 111, and a DLP projector 117 mounted below the material trough 116; the feeding area 12 is located on the outer side of the 3D printer 11.

[0071] During operation, the worker places bioceramic ink into the material tank 116 in the feeding area 12. Then, one or more 3D models of the support structure can be imported into the control module 2. Upon starting the 3D printer 11, the forming platform 114 automatically descends to a position 2mm from the bottom of the material tank 116. Subsequently, the control module 2 causes the DLP projector 117 to project slice images of the model in a controlled manner based on the slices of the support structure. After the first slice is printed, the forming platform 114 rises to the height of one slice's thickness, and the scraper 115 descends to a position 1mm from the bottom of the material tank 116. Then, the material tank 116 rotates one revolution, and the scraper 115 rises to... After the first layer of this batch of brackets is printed, the above operation is repeated. For each layer that is cured, the slide table 112 will lift the forming platform 114 and the printed part by the thickness of one slice. This process is repeated in a cycle until the printing is completed. After all the brackets in this batch are printed, the forming platform 114 will automatically rise to the highest position. Then, the flipping mechanism 113 will rotate the forming platform 114 180 degrees so that the side with the brackets is facing up. After all the brackets are transferred to the transport module 6, the flipping mechanism 113 will rotate the forming platform 114 180 degrees back to the initial position. The above operation is repeated to start printing the next batch of brackets.

[0072] Furthermore, the bioceramic ink contains 50% to 60% biomaterials by mass, with the remainder being photosensitive resin.

[0073] Furthermore, the biomaterial can be calcium magnesium phosphate, calcium silicate, tricalcium phosphate, or hydroxyapatite, etc.

[0074] like Figure 1 As shown, the post-processing module 3 for the support includes an anhydrous ethanol cleaning unit 31, a drying unit 32, a high-temperature calcination unit 33, and a cooling unit 34.

[0075] During operation, the control module 2 controls the picking robot 62 next to the bracket post-processing module 3 to put the bracket into anhydrous ethanol for cleaning. After the bracket has been cleaned for 3 minutes, it is placed in the drying oven for drying. After drying, the bracket is placed in the calcining furnace for high-temperature calcination. After high-temperature calcination, the bracket is taken out for cooling. After cooling, the bracket is transferred to the transport module 6 for transport to the next process.

[0076] Furthermore, the drying temperature is 50℃-60℃, the drying time is 3-5 hours, the high-temperature calcination temperature is 1000℃-1200℃, and the high-temperature calcination time is 3-5 hours.

[0077] like Figure 1 and Figure 7 As shown, the scaffold antitumor empowerment unit 41 includes an injection unit 44 and an antitumor hydrogel, wherein the antitumor hydrogel is loaded with any one of bisphosphonates, doxorubicin, cisplatin and methotrexate;

[0078] The scaffold-promoting bone-enhancing unit 42 includes an injection unit 44 and a bone-promoting hydrogel, wherein the bone-promoting hydrogel is loaded with either SDF-1 or BMP-2 growth factors.

[0079] The scaffold antibacterial empowerment unit 43 includes an injection unit 44 and an antibacterial hydrogel, wherein the antibacterial hydrogel is loaded with any one of tetracycline and vancomycin antibiotics.

[0080] Furthermore, the injection unit 44 includes a support frame 441, a movable frame 442 mounted on the support frame 441, a stepper motor 443 mounted below the movable frame 442, a syringe 444 mounted below the stepper motor 443, and an injection platform 445 fixedly mounted on the support frame 441.

[0081] During operation, the control module 2 controls the picking robot 62 next to the stent empowerment module 4 to place the stent on the injection platform 445. Then, the movable frame 442 descends, and the control module 2 controls the stepper motor 443 of the injection unit 44 in the empowerment unit where the stent is located to start, so that the syringe 444 automatically injects anti-tumor hydrogel, osteogenic hydrogel or antibacterial hydrogel into the stent to achieve stent empowerment. After empowerment is completed, the manufactured stent functional unit 52 is obtained. Then the movable frame 442 moves upward, waiting for the next empowerment operation.

[0082] like Figure 1 and Figure 8 As shown, the bracket assembly module 5 includes a material feeding area 53 and an assembly plate 51. The upper part of the assembly plate 51 has a protrusion, the shape of which is consistent with the groove of the bracket functional unit 52.

[0083] Furthermore, the biomaterial used to manufacture the assembly plate 51 can be calcium magnesium phosphate, calcium silicate, tricalcium phosphate, or hydroxyapatite, etc., and its shape is consistent with the shape of the patient's injury.

[0084] During operation, the control module 2 can automatically analyze the patient's medical records and use the picking robot 62 next to the stent assembly module 5 to assemble the stent functional unit 52 onto the assembly plate 51 as needed.

[0085] like Figure 1 and Figure 4 As shown, the transport module 6 includes a conveying unit 61 and four picking robots 62; the conveying unit 61 includes a chain conveyor belt 613, a motor 614 fixedly installed below the chain conveyor belt 613, a support tray 611 placed on the chain conveyor belt 613, and a positioning unit 612 fixedly installed below the chain conveyor belt 613; the four picking robots 62 are respectively fixedly installed between the support printing module 1, the support post-processing module 3, the support empowerment module 4, the support assembly module 5 and the conveying unit 61.

[0086] The four positioning units 612 are respectively fixedly installed on the conveyor belt support near the four picking robots 62, and the motor 614 and the four positioning units 612 are all installed on the conveyor belt support by bolts.

[0087] During operation, when the previous process is completed, the nearest picking robot 62 transfers the bracket to the bracket tray 611 on the chain conveyor 613. Then, the positioning unit 612 releases its positioning, the motor 614 starts, and the chain conveyor 613 begins to work. When the bracket moves to the next process with the chain conveyor 613, the positioning unit 612 next to the nearest picking robot 62 automatically positions the bracket tray 611, the motor 614 stops working, and then the picking robot 62 picks up the bracket and moves it to the next process.

[0088] like Figure 5 As shown, the upper part of the support tray 611 has a groove, the shape of which is consistent with the support; the front part has a buffer block 6111, and the rear part has a bumper block 6112.

[0089] During operation, the anti-collision block 6112 is used to prevent two adjacent support trays 611 from colliding, and the buffer block 6111 is used to cooperate with the positioning unit 612 to position the support tray 611.

[0090] like Figure 4 and Figure 6 As shown, the positioning unit 612 includes a positioning cylinder 6122 fixedly mounted on the conveyor belt support and a stop block 6121 mounted on the positioning cylinder 6122. The stop block 6121 is connected to the guide rod of the positioning cylinder 6122 by bolts.

[0091] During operation, when the support tray 611 moves above the positioning unit 612, the positioning cylinder 6122 on the conveyor belt support drives the stop block 6121 to rise through the guide rod, so that the support tray 611 is positioned next to the picking robot 62.

[0092] Furthermore, the upper groove of the support tray 611 may have 3 grooves, or it may have 2 grooves, or even 1 groove.

[0093] like Figure 2 and Figure 8 As shown, this invention can manufacture a multifunctional bioactive scaffold, and its manufacturing process is as follows: First, the worker puts the pre-prepared bioceramic ink into the material tank 116 in the loading area 12, and then the scaffold printing module 1 starts printing the scaffold; after the scaffold is printed, it is transported to the scaffold post-processing module 3 via the transport module 6 for post-processing; after post-processing, it is transported to the scaffold empowerment module 4 via the transport module 6 for empowerment, and then transported to the scaffold assembly module 5 via the transport module 6, where the control module 2 controls the assembly of the scaffold functional units 52 as needed; after assembly, the manufactured multifunctional bioactive scaffold is obtained in the unloading area 53, and finally, the worker unloads it in the unloading area 53. Except for loading and unloading, all four processes are completed automatically, in a streamlined operation.

[0094] The specific process for manufacturing a multifunctional bioactive scaffold using the device of the present invention is as follows: First, the worker places bioceramic ink into the material tank 116 in the material loading area 12. Then, one or more three-dimensional models of the scaffold, designed based on the patient's lesion shape obtained from medical imaging equipment, can be imported into the control module 2. At this time, after starting the three-dimensional printer 11, the forming platform 114 automatically descends to a position 2mm away from the bottom of the material tank 116. Subsequently, the control module 2 causes the DLP projector 117 to project slice images of the model in a controlled manner based on the scaffold model slices. After the first layer of slices is printed, the forming platform 114 rises to print one slice. The squeegee 115 descends to a position 1mm from the bottom of the material trough 116, then the material trough 116 rotates one full turn, and the squeegee 115 rises, thus completing the printing of the first layer of this batch of supports. Thereafter, the above operation is repeated; for each cured layer, the slide 112 will lift the forming platform 114 and the printed part by the thickness of one slice, repeating this cycle until all layers are printed. After all supports are printed, the forming platform 114 automatically rises to its highest position, and then the tilting mechanism 113 tilts the forming platform 114 180 degrees so that the side with the supports is facing upwards, controlling... After the picking robot 62 next to the printing module 1 picks up the bracket and places it onto the bracket tray 611 in the transport module 6, the motor 614 starts. The bracket tray 611, carrying the bracket, moves along the chain conveyor belt 613 to the bracket post-processing module 3. At this point, the positioning cylinder 6122 on the positioning unit 612 is activated, and its guide rod drives the stop block 6121 to move upwards, positioning the bracket tray 611. The control module 2 then controls the picking robot 62 next to the bracket post-processing module 3 to pick up the bracket and place it into the bracket post-processing module 3 for the second process. 2. Place the bracket in anhydrous ethanol for cleaning. After cleaning the bracket for 3 minutes, place the bracket in a drying oven to dry. After drying, place the bracket in a calcining furnace for high-temperature calcination. After high-temperature calcination, take out the bracket and cool it. After cooling, the control module 2 controls the picking robot 62 next to the bracket post-processing module 3 to pick up the bracket and place it on the bracket tray 611 of the transport module 6. When the bracket tray 611 carrying the bracket moves to the bracket empowerment module 4 along the chain conveyor belt 613, the positioning cylinder 6122 on the positioning unit 612 is activated. Its guide rod drives the stop block 6121 to move upward to position the bracket tray 611.Control module 2 controls the picking robot 62 next to the stent empowerment module 4 to pick up the stent and place it into the stent empowerment module 4 for the third process. Control module 2 analyzes the patient's medical record to determine the types and numbers of different stent functional units 52 that need to be assembled. Then, control module 2 controls the picking robot 62 next to the stent empowerment module 4 to place the stent on the injection platform 445. Subsequently, the movable frame 442 descends, and control module 2 controls the stepper motor 443 of the injection unit 44 in the empowerment unit where the stent is located to start, so that the syringe 444 automatically injects anti-tumor hydrogel, osteogenic hydrogel, or antibacterial hydrogel into the stent to achieve stent empowerment. After empowerment is completed, the movable frame 442 moves upward, and then control module 2 controls the picking robot 62 next to the stent empowerment module 4 to pick up the stent functional unit. The support tray 611 carrying the support functional unit 52 is moved to the support assembly module 5 by the chain conveyor belt 613. When the support tray 611 carrying the support functional unit 52 is moved to the support assembly module 5, the positioning cylinder 6122 on the positioning unit 612 is activated. Its guide rod drives the stop block 6121 to move upward to position the support tray 611. The control module 2 controls the picking robot 62 next to the support assembly module 5 to pick up the support functional unit 52 and put it into the support assembly module 5 for the fourth process. The patient's medical record is imported into the control module 2, which can automatically analyze the patient's medical record and assemble the support functional unit 52 onto the assembly plate 51 as needed through the picking robot 62 next to the support assembly module 5. After all the support functional units 52 are assembled, the worker can get the manufactured multifunctional bioactive scaffold in the unloading area 53. Figure 8 As shown.

[0095] Example 1

[0096] The specific process of manufacturing a multifunctional bioactive scaffold using the device of the present invention is as follows: In the first step, the worker first places bioceramic ink into the material tank 116 in the loading area 12, then imports rectangular and triangular scaffold models designed according to the patient's lesion shape obtained from medical imaging equipment into the control module 2, and starts the 3D printer 11 to print the scaffold. After printing, the scaffold is transported by the transport module 6 to the scaffold post-processing module 3 for post-processing. After post-processing, the scaffold is transported by the transport module 6 to the scaffold empowerment module 4 for scaffold empowerment. The control module 2 analyzes the patient's medical records to determine the types and numbers of different scaffold functional units 52 to be assembled, and then controls the empowerment module 4 to empower the printed scaffolds respectively, performing anti-tumor empowerment on scaffolds in the outer ring and bone-promoting empowerment on scaffolds in the inner ring. After empowerment, the scaffold is transported by the transport module 6 to the scaffold assembly module 5 for assembly. The control module 2 analyzes the patient's medical records and controls the scaffold assembly module 5 to assemble each scaffold functional unit 52 into the designated position. After assembly, a multifunctional bioactive scaffold with anti-tumor and bone-promoting functions (polygonal shape) can be obtained in the unloading area 53. Figure 9As shown.

[0097] Example 2

[0098] The specific process for manufacturing the multifunctional bioactive scaffold using the device of the present invention is as follows: In the first step, the worker places bioceramic ink into the material tank 116 in the feeding area 12. Then, a circular and annular scaffold model designed based on the patient's lesion shape obtained from medical imaging equipment is imported into the control module 2, and the 3D printer 11 is started to print the scaffold. After printing, the scaffold is transported by the transport module 6 to the scaffold post-processing module 3 for post-processing. After post-processing, the scaffold is transported by the transport module 6 to the scaffold empowerment module 4 for scaffold empowerment. The control module 2 analyzes the patient's medical records to obtain the different scaffold functional units 52 that need to be assembled. The system determines the types and number of scaffolds, and then controls the empowerment module 4 to empower the printed scaffolds individually. The outermost scaffolds are empowered with antibacterial properties, the middle scaffolds with antitumor properties, and the innermost scaffolds with bone-promoting properties. After empowerment, the scaffolds are transported by the transport module 6 to the scaffold assembly module 5 for assembly. The control module 2 analyzes the patient's medical records and controls the scaffold assembly module 5 to assemble each scaffold functional unit 52 into its designated position. After assembly, a circular, multifunctional bioactive scaffold with antibacterial, antitumor, and bone-promoting functions is obtained in the unloading area 53. Figure 10 As shown.

Claims

1. A multifunctional bioactive scaffold manufacturing device, characterized in that, The multifunctional bioactive scaffold manufacturing device includes: a scaffold printing module (1), a scaffold post-processing module (3), a scaffold energizing module (4), a scaffold assembly module (5), a control module (2), and a transport module (6); the scaffold energizing module (4) includes a scaffold anti-tumor energizing unit (41); a scaffold osteogenic energizing unit (42); and a scaffold antibacterial energizing unit (43); The bracket printing module (1) includes a 3D printer (11) and a feeding area (12); The control module (2) is used to control the operation of the bracket printing module (1), the bracket post-processing module (3), the bracket empowerment module (4), the bracket assembly module (5) and the transportation module (6); The feeding area (12) is used to add bioceramic ink. The bioceramic ink enters the 3D printer (11) through the feeding area (12) for printing to obtain product one. The transport module (6) is used to transport product one to the stent post-processing module (3) for processing to obtain product two. Product two is transported through the transport module (6) to the stent empowerment module (4) for processing to obtain stent functional unit (52). Several stent functional units (52) are transported through the transport module (6) to the stent assembly module (5) for processing to obtain the multifunctional bioactive stent.

2. The multifunctional bioactive scaffold manufacturing device according to claim 1, characterized in that: The 3D printer (11) includes a fixed frame (111), a slide (112) is provided on the fixed frame (111), a flipping mechanism (113) is provided on the slide (112), a forming platform (114) is provided on the flipping mechanism (113), a scraper (115) and a material trough (116) are also provided on the fixed frame (111), and a DLP projector (117) is provided directly below the material trough (116).

3. The multifunctional bioactive scaffold manufacturing device according to claim 1, characterized in that: The post-processing module (3) of the support includes an anhydrous ethanol cleaning unit (31), a drying unit (32), a high-temperature calcination unit (33) and a cooling unit (34); The product processed by the anhydrous ethanol cleaning unit (31) is transported to the drying unit (32) by the picking robot (62). The product processed by the drying unit (32) is transported to the high-temperature calcination unit (33) by the picking robot (62). The product processed by the high-temperature calcination unit (33) is transported to the cooling unit (34) by the picking robot (62).

4. The multifunctional bioactive scaffold manufacturing device according to claim 1, characterized in that: The scaffold antitumor empowerment unit (41) includes an injection unit (44) and an antitumor hydrogel, wherein the antitumor hydrogel is loaded with any one of bisphosphonates, doxorubicin, cisplatin and methotrexate; The scaffold-promoting bone-enhancing unit (42) includes an injection unit (44) and a bone-promoting hydrogel, wherein the bone-promoting hydrogel is loaded with either SDF-1 or BMP-2 growth factors. The scaffold antibacterial empowerment unit (43) includes an injection unit (44) and an antibacterial hydrogel, wherein the antibacterial hydrogel is loaded with any one of tetracycline and vancomycin antibiotics.

5. The multifunctional bioactive scaffold manufacturing device according to claim 4, characterized in that: The injection unit (44) includes a support frame (441), a movable frame (442) is mounted on the support frame (441), a stepper motor (443) is mounted on the movable frame (442), a syringe (444) is mounted on the stepper motor (443), and an injection platform (445) is also mounted on the support frame (441); the injection platform (445) corresponds to the syringe (444).

6. The multifunctional bioactive scaffold manufacturing device according to claim 1, characterized in that: The surface of the bracket functional unit (52) is provided with a plug-in groove, and the bracket assembly module (5) includes a material feeding area (53) and an assembly plate (51). The surface of the assembly plate (51) is provided with a plug-in protrusion that is adapted to the plug-in groove. The assembly plate (51) is made of biomaterials, which are any one of calcium magnesium phosphate, calcium silicate, tricalcium phosphate and hydroxyapatite.

7. The multifunctional bioactive scaffold manufacturing device according to claim 1, characterized in that: The transport module (6) includes a conveyor unit (61) and four picking robots (62); the conveyor unit (61) includes a chain conveyor belt (613), which is driven by a motor (614). A support tray (611) is mounted on the chain conveyor belt (613), which is supported by a conveyor belt support. Four positioning units (612) are fixedly installed on the conveyor belt support, named Positioning Unit 1, Positioning Unit 2, Positioning Unit 3, and Positioning Unit 4, respectively; the four picking robots... The hands (62) are named Robotic Hand 1, Robotic Hand 2, Robotic Hand 3, and Robotic Hand 4, respectively. Robotic Hand 1 is installed in the corresponding position of the bracket printing module (1), Robotic Hand 2 is installed in the corresponding position of the bracket post-processing module (3), Robotic Hand 3 is installed in the corresponding position of the bracket empowerment module (4), and Robotic Hand 4 is installed in the corresponding position of the bracket assembly module (5). The installation positions of Positioning Unit 1, Positioning Unit 2, Positioning Unit 3, and Positioning Unit 4 correspond to those of Robotic Hand 1, Robotic Hand 2, Robotic Hand 3, and Robotic Hand 4, respectively. When the support tray (611) moves to the position of the positioning unit (613) along the chain conveyor belt (613), the positioning unit (611) locks the support tray (611), the robot arm (611) is used to transfer the product (611) onto the support tray (611), and the positioning unit (611) releases the support tray (611) so that the support tray (611) moves with the conveyor belt. When the support tray (611) moves to the position of the positioning unit two along the chain conveyor belt (613), the positioning unit two locks the support tray (611). After the robot arm two transfers the product one to the support post-processing module (3) for processing, the robot arm two transfers the product two to the support tray (611). The positioning unit two releases the support tray (611), allowing the support tray (611) to move along with the conveyor belt. When the support tray (611) moves to the position of the positioning unit three along the chain conveyor belt (613), the positioning unit three locks the support tray (611). After the robot arm three transfers the product two to the support empowerment module (4) for processing, the robot arm three transfers the support functional unit (52) to the support tray (611). The positioning unit three releases the support tray (611) so that the support tray (611) moves with the conveyor belt. When the support tray (611) moves to the position of the positioning unit four along the chain conveyor belt (613), the positioning unit four locks the support tray (611), and the robotic arm four transfers the support functional unit (52) to the support assembly module (5) for processing.

8. The multifunctional bioactive scaffold manufacturing device according to claim 7, characterized in that: The support tray (611) is provided with a groove, the front of the support tray (611) is provided with a buffer block (6111), and the rear of the support tray (611) is provided with a collision-resistant block (6112); the positioning unit (612) includes a positioning cylinder (6122) and a stop block (6121); the positioning cylinder (6122) is fixedly installed on the conveyor belt support, and the positioning cylinder (6122) is provided with a stop block (6121) that can move with the piston.

9. The multifunctional bioactive scaffold manufacturing device according to claim 2, characterized in that: The material tank (116) contains bioceramic ink, which comprises 50% to 60% biomaterials by mass, with the remainder being photosensitive resin; the biomaterials are any one of calcium magnesium phosphate, calcium silicate, tricalcium phosphate and hydroxyapatite.

10. A multifunctional bioactive scaffold, characterized in that: The multifunctional bioactive scaffold includes an assembly plate (51) and several functional layers; the bottom layer of the multifunctional bioactive scaffold is the assembly plate (51), and the several functional layers are disposed above the assembly plate (51); The functional layer is formed by interlocking and assembling several support functional units (52); The functional layers are connected to each other via plug-in assembly. The functional layer and the assembly plate (51) are connected by plug-in assembly; The plug-in assembly is completed by interlocking the plug-in protrusions and the plug-in grooves that are adapted to the plug-in protrusions; The support functional unit (52) has a porous structure with a porosity of 60%-70% and a pore size of 300μm-500μm. The support functional unit (52) is provided with an insertion groove. The center of the insertion groove of the support functional unit (52) is provided with a through hole with a size of 100μm-200μm, which is consistent with the size of the syringe (444).

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