Device and method for printing paste and liquid material

Abstract

The present invention belongs to the field of printing, in particular to the field of multi- material printing and, more particularly, to the field of printing biomaterial paste and biomaterial liquid. The present invention provides a paste extrusion device for depositing paste material, a liquid deposition device for depositing liquid material, a head printer comprising a paste extrusion device and at least one liquid deposition device. The invention further provides a printer comprising a head printer thereof and two methods for depositing paste material and liquid material by means of a head printer thereof.

Description

[0001] DEVICE AND METHOD FOR PRINTING PASTE AND LIQUID MATERIAL

[0002] DESCRIPTION

[0003] OBJECT OF THE INVENTION

[0004] The present invention belongs to the field of printing, in particular to the field of multimaterial printing and, more particularly, to the field of printing biomaterial paste and biomaterial liquid. The present invention provides a paste extrusion device for depositing paste material, a liquid deposition device for depositing liquid material, a head printer comprising a paste extrusion device and at least one liquid deposition device. The invention further provides a printer comprising a head printer thereof and two methods for depositing paste material and liquid material by means of a head printer thereof.

[0005] BACKGROUND OF THE INVENTION

[0006] Additive manufacturing, commonly known as 3D printing, had an impressive impact over the traditional manufacturing methods by offering unprecedented design freedom and flexibility. Unlike conventional techniques such as machining and molding, which often impose limitations on design complexity and manufacturing feasibility, 3D printing enables the direct fabrication of three-dimensional objects from digital models with intricate geometries.

[0007] The process of 3D printing is based on the creation of a digital model using computer- aided design (CAD) software, which helps defining the geometry, dimensions, and structural features of the object to be printed. This digital model serves as the blueprint for the additive manufacturing process in further deposition steps.

[0008] Subsequently, specialized software permits the slicing of the digital model into thin horizontal layers, corresponding to the layer-by-layer deposition process employed by the 3D printer. Each layer is represented as a two-dimensional cross-section, containing instructions for the head printer to build each particular slice.

[0009] The previously sliced digital model is then transferred to the 3D printer device, which utilizes various additive manufacturing technologies. Some of the deposition technologies known in the art are fused deposition modeling (FDM), stereolithography (SLA), or selective laser sintering (SLS), in order to sequentially deposit material layer by layer. The choice of the printing technology and materials depends on important factors and parameters required for the final product such as desired resolution, mechanical properties, and application requirements.

[0010] After the printing process is complete, the fabricated object may undergo postprocessing steps, such as support removal, surface finishing, and curing, to achieve the desired mechanical, aesthetic, and functional properties.

[0011] The widespread adoption of 3D printing technology has revolutionized all types of industries, including aerospace, automotive, healthcare, and consumer goods, by enabling rapid prototyping, on-demand manufacturing, and customization at scale. Key advantages of 3D printing include design flexibility, reduced lead times, cost efficiency, and supply chain resilience.

[0012] In particular, in the healthcare industry, challenges persist in the field of 3D printing regarding the material selection, the implementation of biomaterial as consumables of the printing device and as part of the printing process, and regarding the quality required for the product to be manufactured in this field which is one of the most demanding.

[0013] Therefore, there is a need in the art for a device capable of extruding paste, in particular a device capable of extruding paste while said paste material is not in a state fusion. There is also a need in the art for a device capable of depositing liquid, in particular biomaterial liquid and, thus, for a head printer and a printer able to be loaded and print both liquid material and paste material.

[0014] BRIEF DESCRIPTION OF THE INVENTION

[0015] The present invention proposes a solution to the preceding problems providing a paste extrusion device according to claim 1 , a liquid deposition device according to claim 5, a head printer according to claim 7, a printer according to claim 11 , a first method for depositing paste material and liquid material according to claim 13 and a second method for depositing paste material and liquid material according to claim 15. The dependent claims define preferred embodiments of the invention. In a first inventive aspect, the present invention provides a paste extrusion device for depositing paste material comprising:

[0016] - a syringe holder configured for charging a syringe, the syringe having a tip and a syringe plunger located inside the syringe, said syringe being adapted for providing paste material,

[0017] - a paste plunger comprising a plunger tip, the plunger tip being configured for being introduced inside the syringe and for applying pressure on the syringe plunger,

[0018] - a paste actuator comprising an hydraulic port configured for driving an oil flow in an oil chamber and a pneumatic port configured for driving an air flow in an air chamber, the paste actuator being configured for actuating the paste plunger, the paste plunger in turn actuating the syringe plunger and the syringe plunger extruding a predetermined amount of paste material off the syringe, wherein the hydraulic port is located upstream the paste actuator and the pneumatic port is located downstream the paste actuator and wherein, in a first mode, the pneumatic port is configured for exhausting air of the air chamber and the hydraulic port is configured for impeding oil flow so that the oil volume of the oil chamber is constant and the paste plunger remains stationary, or in a second mode, the pneumatic port is configured for exhausting air of the air chamber and the hydraulic port is configured for injecting a predetermined volume of oil flow into the oil chamber and actuating the paste actuator so that the paste material is extruded through the tip, or in a third mode, the pneumatic port is configured for injecting pressurized air in the air chamber and the hydraulic port is configured for outputting the predetermined volume of oil flow off the oil chamber so that the paste plunger and the plunger tip are lifted and removed from the syringe.

[0019] The paste extrusion device of the present invention comprises a syringe holder which permits charging a syringe comprising paste material. The syringe holder helps fixing and immobilizing the syringe inside the paste extrusion device. The fitting of the syringe inside the syringe holder ensures minimal deformation of said syringe once in operative mode, that is, when the paste material inside the syringe is extruded out of the syringe through the tip of said syringe.

[0020] Preferably, the syringe is single use and replaceable.

[0021] Furthermore, the syringe comprises a syringe plunger entering directly in contact with the paste material filled within the syringe. The paste extrusion device also comprises a paste plunger with a plunger tip which, once introduced inside the syringe in operative mode, said plunger tip helps applying pressure on the syringe plunger and, thus, on the paste material located inside the syringe.

[0022] In an embodiment, the paste extrusion device is made of stainless steel and aluminum.

[0023] The paste extrusion device of the invention provides a compact extrusion device with a reduced volume and a low number of elements so that implementation in a printer head is easier for a user.

[0024] The extrusion of the paste material from the paste extrusion device of the invention is carried out by the action of the paste plunger exerting pressure on the paste material through the syringe plunger. The movement of the paste plunger that moves through the body of the syringe is performed by means of a hydraulic port configured for driving an oil flow in an oil chamber and a pneumatic port configured for driving an air flow in an air chamber.

[0025] Air flow is injecting through the pneumatic port when the paste plunger is moved upward or lifted. Otherwise, when the paste plunger is not to be lifted, the pneumatic port is connected to air vent or actuate as an air flow exhaust port which allows unrestricted circulation of the air flow.

[0026] The paste extrusion device of the invention present three different modes when operative. In the first mode, the pneumatic port is configured for exhausting air of the air chamber and the hydraulic port is configured for impeding oil flow so that the oil volume of the oil chamber is constant and the paste plunger remains stationary. The first mode is a mode where the paste extrusion device of the invention is inactive when in operative mode, that is when mounted on a printer head. Thanks to the pneumatic port and the hydraulic port configurations in that mode, the paste plunger is immobile and, thus, no paste material is extruded out of the syringe.

[0027] In the second mode, the pneumatic port is configured for exhausting air of the air chamber and the hydraulic port is configured for injecting a predetermined volume of oil flow into the oil chamber and actuating the paste actuator so that the paste material is extruded through the tip. By way of the combined use of the pneumatic port and the hydraulic port, the extrusion device of the invention helps extruding a precise amount of paste material and enhances the quality of the overall process of depositing paste material when the paste extrusion device is in operative mode. The synergy of actuation of the pneumatic port together with the hydraulic port helps improving the accuracy of the deposition of paste material.

[0028] Finally, in the third mode, the pneumatic port is configured for injecting pressurized air in the air chamber and the hydraulic port is configured for outputting the predetermined volume of oil flow off the oil chamber so that the paste plunger and the plunger tip are lifted and removed from the syringe. By outputting the predetermined volume of oil flow out of the oil chamber, and thanks to the combined injection of air into the air chamber, the pressure exerted on the paste actuator is such that said paste actuator is lifted till the paste plunger is removed out of the syringe. Advantageously, the third mode helps removing the syringe out of the syringe holder and also permits to a user to replace the syringe and charge a new syringe with paste material so that the paste extrusion device is able to be reused for extruding paste material.

[0029] In an embodiment, the hydraulic port receives its movement through a hydraulic pump driven by an electric cylinder and pneumatic compensation.

[0030] In an embodiment, the paste plunger is a hydraulic cylinder actuator.

[0031] Advantageously, the tip of the syringe is configured such that said tip helps determining the position and line thickness of the deposited paste material. Preferably, the tip of the syringe is single use.

[0032] Also, the paste extrusion device of the invention helps extruding paste material while said paste material is not in a fusion state. In an embodiment, the paste extrusion device further comprises a probe configured for determining the distance between the tip and a printing surface

[0033] Advantageously, the probe is placed close to the tip of the syringe and connected to the syringe holder so that its function is to take measurement of the distance between the tip and the printing surface so that the device is able to maintain the predetermined distance which is the required distance for the paste extrusion device to proceed to the deposition of paste in an optimal manner.

[0034] The probe also helps calibrating the different axis of the paste extrusion device with respect to the impression surface.

[0035] In an embodiment, the tip is sterilizable. In an embodiment, the syringe plunger is sterilizable.

[0036] In an embodiment, the tip is sterilized by autoclave, ultraviolet radiation, gamma ray radiation, electron beam radiation, ethylene oxide gas, moist heat, dry heat, vaporized hydrogen peroxide, hydrogen peroxide plasma, chlorine dioxide gas, vaporized peracetic acid or nitrogen dioxide. In a preferred embodiment, the tip is sterilized by autoclave via high pressure and high temperature, gamma ray radiation, electron beam radiation or ethylene oxide gas.

[0037] In an embodiment, the paste extrusion device further comprises a pressure sensor configured for detecting overpressure.

[0038] In particular, the pressure sensor is connected to the hydraulic port so that said pressure sensor is able to provide monitoring of the pressure of the oil flow and avoid overpressure. Thanks to the pressure sensor, the measured pressure is a precise measurement helping for controlling the oil flow pressure but also of the pressure within the syringe during extrusion of the paste material that is when the paste extrusion device is in the second mode.

[0039] In an embodiment, the paste material comprises hydrogel and biomaterial. In an embodiment, the hydraulic port comprises flux control means in order to ensure optimal repetitiveness of the printing and start-stop capability.

[0040] In a second inventive aspect, the present invention provides a liquid deposition device for depositing liquid material, the liquid deposition device having a cover wherein the liquid deposition device comprises:

[0041] - an air inlet and a hollow needle, both configured for introducing air into the liquid tank, the air inlet and the hollow needle being in fluidic communication,

[0042] - a liquid tank comprising a liquid stopper and a liquid outlet, the liquid outlet being configured for outputting a predetermined amount of liquid material, wherein the hollow needle is configured for being inserted into the liquid stopper and for actuating the deposition of liquid material through the liquid outlet.

[0043] The liquid deposition device of the invention provides a solution for injecting air flow through the air inlet and exhausting said air flow through the hollow needle. Thanks to the location of the hollow needle, inserted into the liquid stopper and thus creating a closed compartment within the liquid tank, the air flow actuates the deposition of the liquid material by applying pressure on said liquid material contained into the liquid tank, more particularly, within the compartment.

[0044] Advantageously, the liquid stopper located into the liquid tank helps maintaining constant and predictable pressure balance when the liquid deposition device is in operative conditions. Also, the hollow needle permits to insert air flow directly into the liquid tank.

[0045] Preferably, the hollow needle is single use. Also preferable, the air flow injected into the liquid material is previously filtered till said air flow is sterilized.

[0046] In an embodiment, the liquid deposition device further comprises second lighting means configured for tracking the amount of liquid material contained within the liquid tank. Preferably, the second lighting means is led based.

[0047] In an embodiment, the liquid outlet further comprises a valve, preferably a microvalve, configured for depositing dots of liquid material. Advantageously, the liquid outlet permits to deposit dots of liquid material without touching the printing surface. In other words, the dots of liquid material outputted through the liquid outlet are thrown from a predetermined distance and then contact with the printing surface.

[0048] Thanks to the microvalve, the liquid deposition device controls the start / stop of the liquid material to be deposited.

[0049] In an embodiment, the liquid tank is connected to the liquid outlet by means of an adapter which provides fluidic communication between the liquid tank and the liquid outlet.

[0050] In an embodiment, the cover further comprises opening means configured for opening at least a portion of the cover.

[0051] Advantageously, opening at least a portion of the cover helps for facilitating the access to the liquid tank and recharging or replacing said liquid tank with liquid material in between printings.

[0052] In an embodiment, the liquid outlet further comprises a temperature controlling system.

[0053] The temperature controlling system helps monitoring the variation of temperature of the liquid material when deposited which impact the viscosity of the liquid material but also helps controlling the size of the deposited dots.

[0054] In an embodiment, the valve comprises the temperature controlling system.

[0055] In a third inventive aspect, the present invention provide a head printer comprising:

[0056] - a paste extrusion device for depositing paste material according to any embodiment of the first inventive aspect of the invention, and

[0057] - at least one liquid deposition device for depositing liquid material according to any embodiment of the second inventive aspect of the invention.

[0058] The head printer of the invention provides a solution for printing more than one material at the same time, in particular, more than one material of different composition such as one paste material deposited thanks to the paste extrusion device of the invention and at least one liquid material deposited thanks to the liquid deposition device of the invention.

[0059] The solution provided by the head printer of the present invention provides a faster printing time thanks to simultaneous printing but the same invention is also capable of printing only one material and, thus, said head printer allows printing based on one material or based on more than one material.

[0060] Advantageously, the paste extrusion device has enhanced precision so that the head printer ensures repeatability, especially when and after alternating from one material to another.

[0061] In an embodiment, when in operative conditions and the head printer is configured for printing more than one material simultaneously, the at least one liquid deposition device is lifted as far as possible from the device which is depositing in order to avoid and minimize cross contaminations between material of the different devices.

[0062] In an embodiment, the head printer further comprises:

[0063] - at least one hydraulic pump connected to a liquid actuator by means of a hose,

[0064] - at least one valve configured for purging the hose, and

[0065] - at least one pneumatic cylinder configured for lowering or lifting the at least one liquid deposition device.

[0066] The head printer further comprises at least one pneumatic cylinder which helps lowering or lifting the at least one liquid deposition device and set it to its printing position when in operative conditions.

[0067] In an embodiment, the at least one hydraulic pump is controlled by means of an electrical lineal actuator which permits to modify the position of the liquid actuator of the hydraulic pump depending on the electric signal input sent to the electrical lineal actuator.

[0068] In an embodiment, the head printer further comprises a hydraulic circuit configured for controlling the hydraulic elements such as hydraulic cylinders, hydraulic port, hydraulic pump etc. In an embodiment, the head printer further comprises a pneumatic circuit configured for controlling the pneumatic elements such as pneumatic cylinders, pneumatic port etc.

[0069] In an embodiment, the head printer comprises a paste extrusion device, a first liquid deposition device and a second liquid deposition device.

[0070] In a particular embodiment, the paste extrusion device is located between the first liquid deposition device and the second liquid deposition device.

[0071] In an embodiment, the first liquid deposition device is configured for depositing a first liquid material and the second liquid deposition device is configured for depositing a second liquid material.

[0072] In an embodiment, the first liquid material and the second liquid material are different materials.

[0073] In a particular embodiment, the first liquid material comprises a biomaterial. In a particular embodiment, the second liquid material comprises a biomaterial. In another particular embodiment, the first liquid material and the second liquid material comprise biomaterials.

[0074] In an embodiment, the first liquid material and / or the second liquid material is a biomaterial, such as for example, a liquid material comprises a biological compound. Said biological compound can be, for example, a protein or amino acid.

[0075] In an embodiment, the first liquid material and / or the second liquid material is a liquid material comprises fibrinogen. In a preferred embodiment, the liquid material comprises fibrinogen also further comprises a pharmaceutically acceptable carrier. In a preferred embodiment, the liquid material consists of fibrinogen.

[0076] In an embodiment, the first liquid material and / or the second liquid material is a liquid material comprises thrombin. In a preferred embodiment, the liquid material comprises thrombin also further comprises a pharmaceutically acceptable carrier. In a preferred embodiment, the liquid material consists of thrombin. In a fourth inventive aspect, the present invention provides a printer comprising a head printer according to any embodiment of the third inventive aspect.

[0077] In an embodiment, the printer further comprises controlling means configured for actuating the paste extrusion device and the at least one liquid deposition device.

[0078] In an embodiment, the controlling means are partially based on direct control and partially based on indirect control. The direct control is provided for controlling the location of the head printer along the horizontal plane XY and the vertical axis Z-Z’ but also with respect of the location of the paste extrusion device. Indirect control is provided for controlling the valves, the pneumatic elements, the hydraulic elements, the pressure of the air flow injected in the liquid deposition device etc.

[0079] In a fifth inventive aspect, the present invention provides a method for depositing paste material and liquid material by means of a head printer according to any embodiment of the third inventive aspect, the method comprises the following steps: a) providing a syringe, b) inserting the syringe inside a syringe holder of a paste extrusion device, the syringe having a tip defining a predetermined deposition position, c) providing liquid material in a liquid tank of an at least one liquid deposition device and introducing air into the liquid tank of the at least one liquid deposition device, d) setting the head printer at a predetermined starting point, e) actuating at least one pneumatic cylinder for lowering the liquid deposition device from an initial position to a predetermined printing position, the predetermined printing position being lower than the tip of the syringe with respect to the vertical axis Z-Z’, f) depositing the liquid material along a predetermined path within the horizontal plane XY and through the liquid outlet, preferably by means of the valve of the liquid outlet, starting from the predetermined printing position, g) stopping the deposition of liquid material and lifting the head printer when the deposition of liquid material is over, h) actuating the at least one pneumatic cylinder for lifting the liquid deposition device from the predetermined printing position to the initial position, the initial position being higher than the tip of the syringe with respect to the vertical axis Z-Z’, i) actuating a paste actuator for depositing paste material through the tip of the syringe, the deposition of paste material starting at the position where the liquid deposition device stopped after step g), j) moving the head printer along the predetermined path and within an horizontal plane XY, perpendicular to the vertical axis Z-Z’, while the paste material is being deposited, k) stopping the deposition of paste material and lifting the head printer when the deposition of paste material is over.

[0080] Advantageously, the method of the fifth inventive aspect of the present invention permits depositing paste material and liquid material in one loading. That is, by providing a paste extrusion device according to any of the previous embodiment described previously and at least one liquid deposition device according to any of the previous embodiment described previously.

[0081] In an embodiment, the paste material and / or the liquid material deposited during the steps of the method of the fifth inventive aspect of the invention are biomaterials.

[0082] The method of the fifth inventive aspect of the present invention also ensures an optimal collaboration between the two type of devices, the paste extrusion device and the at least one liquid deposition device, so that, from steps d) to k), the head printer actuates sequentially one device or the other in order to set up the paste extrusion or the liquid deposition.

[0083] In the present method the fifth inventive aspect, the paste extrusion device and the at least one liquid deposition device are configured to be actuated respectively with respect of the actuation of one device to the other and of its positioning. That is, the at least one liquid deposition device is actuated and depositing liquid material along the predetermined path within the horizontal plane XY, while the paste extrusion device is set at its initial position. When the paste extrusion device is in deposition mode, the at least one liquid deposition device is set at its initial position. Advantageously, the present setting implying distance between the paste material and the at least one liquid material avoids cross-contamination between the paste material and the liquid material since, while depositing one of the two materials, the material which is not being deposited is located as far as possible of the deposition surface. In an embodiment of the fifth inventive aspect, in step f), the valve is a microvalve configured for depositing dots of liquid material.

[0084] In an embodiment of the fifth inventive aspect, in step c), the head printer is pressurized, in particular, the at least one liquid deposition device. In fact, the pressurization of the at least one liquid deposition device helps avoiding any loss of liquid material and prevent the formation of leakage.

[0085] In an embodiment of the fifth inventive aspect, the head printer, in particular the paste extrusion device, is set at the predetermined starting point when the syringe needs to be replaced and a new syringe full of paste material is to be inserted into the syringe holder before the deposition mode can be restart.

[0086] In an embodiment of the fifth inventive aspect, the head printer is lowered before step i) so that the head printer is located at an optimal position with respect to the vertical axis Z-Z’ before starting depositing the paste material. That is, the head printer is located in a position closer to the printing surface.

[0087] In an embodiment of the fifth inventive aspect, the valve is sterilized by autoclave, more preferably with a saturated steam, also called moist heat, at 121°C during 20 minutes.

[0088] In a particular embodiment of the fifth inventive aspect of the invention, the method comprises the following steps: a) actuating a first liquid deposition device according to steps e) to h) of the method; b) actuating a second liquid deposition device according to steps e) to h) of the method; c) actuating the first or the second liquid deposition device according to steps e) to h) of the method until a predetermined quantity of first and second liquid are deposited; d) actuating the paste extrusion device according to steps i) to k). In a sixth inventive aspect, the present invention provides a method for depositing paste material and liquid material by means of a head printer according to any embodiment of the third inventive aspect, the method comprises the following steps: a) providing a syringe, b) inserting the syringe inside a syringe holder of a paste extrusion device, the syringe having a tip defining a predetermined deposition position, c) providing liquid material in a liquid tank of an at least one liquid deposition device and introducing air into the liquid tank of the at least one liquid deposition device, d) setting the head printer at a predetermined starting point, e) actuating a paste actuator for depositing paste material through the tip of the syringe, f) moving the head printer along a predetermined path and within an horizontal plane XY, perpendicular to the vertical axis Z-Z’, while the paste material is being deposited starting from the predetermined deposition position, g) stopping the deposition of paste material and lifting the head printer when the deposition of paste material is over, h) actuating at least one pneumatic cylinder for lowering the liquid deposition device from an initial position to a predetermined printing position, the predetermined printing position being lower than the tip of the syringe with respect to the vertical axis Z-Z’, i) depositing the liquid material along the predetermined path within the horizontal plane XY and through the liquid outlet, preferably by means of the valve of the liquid outlet, the deposition of liquid material starting at the position where the paste extrusion device stopped after step g), j) stopping the deposition of liquid material and lifting the head printer when the deposition of liquid material is over, k) actuating the at least one pneumatic cylinder for lifting the liquid deposition device from the predetermined printing position to the initial position, the initial position being higher than the tip of the syringe with respect to the vertical axis Z-Z’.

[0089] In this inventive aspect, the method starts with a deposition of paste material extruded from the paste extrusion material and, successively, provides a deposition of liquid material. Advantageously, the method of the sixth inventive aspect of the present invention permits depositing paste material and liquid material in one loading. That is, by providing a paste extrusion device according to any of the previous embodiment described previously and at least one liquid deposition device according to any of the previous embodiment described previously.

[0090] In an embodiment, the paste material and / or the liquid material deposited during the steps of the method of the sixth inventive aspect of the invention are biomaterials.

[0091] The method of the sixth inventive aspect of the present invention also ensures an optimal collaboration between the two type of devices, the paste extrusion device and the at least one liquid deposition device, so that, from steps d) to k), the head printer actuates sequentially one device or the other in order to set up the paste extrusion or the liquid deposition.

[0092] In the present method the sixth inventive aspect, the paste extrusion device and the at least one liquid deposition device are configured to be actuated respectively with respect of the actuation of one device to the other and of its positioning. That is, the at least one liquid deposition device is actuated and depositing liquid material along the predetermined path within the horizontal plane XY, while the paste extrusion device is set at its initial position. When the paste extrusion device is in deposition mode, the at least one liquid deposition device is set at its initial position. Advantageously, the present setting implying distance between the paste material and the at least one liquid material avoids cross-contamination between the paste material and the liquid material since, while depositing one of the two materials, the material which is not being deposited is located as far as possible of the deposition surface.

[0093] In an embodiment of the sixth inventive aspect, in step i), the valve is a microvalve configured for depositing dots of liquid material.

[0094] In an embodiment of the sixth inventive aspect, in step c), the head printer is pressurized, in particular, the at least one liquid deposition device. In fact, the pressurization of the at least one liquid deposition device helps avoiding any loss of liquid material and prevent the formation of leakage. In an embodiment of the sixth inventive aspect, the head printer, in particular the paste extrusion device, is set at the predetermined starting point when the syringe needs to be replaced and a new syringe full of paste material is to be inserted into the syringe holder before the deposition mode can be restart.

[0095] In an embodiment of the sixth inventive aspect, the head printer is lowered before step e) so that the head printer is located at an optimal position with respect to the vertical axis Z-Z’ before starting depositing the paste material. That is, the head printer is located in a position closer to the printing surface.

[0096] In an embodiment of the sixth inventive aspect, the valve is sterilized by autoclave, more preferably with a saturated steam, also called moist heat, at 121°C during 20 minutes.

[0097] All the features of the devices, systems and / or the steps of the methods described in this specification (including the claims, description, and drawings) can be combined in any combination, except for combinations of such mutually exclusive features.

[0098] DESCRIPTION OF THE DRAWINGS

[0099] These and other features and advantages of the invention will be shown more clearly based on the following detailed description of a preferred embodiment, provided solely by way of illustrative and non-limiting example in reference to the attached figures.

[0100] Figure 1 This figure shows a paste extrusion device according to an embodiment of the present invention.

[0101] Figure 2 This figure shows a liquid deposition device according to an embodiment of the present invention.

[0102] Figure 3A-3B These figures show a schematic view of a portion of a liquid deposition device according to two embodiments of the present invention while in operative conditions.

[0103] Figure 4 This figure shows a schematic view of a head printer according to an embodiment of the invention. DETAILED DESCRIPTION OF THE INVENTION

[0104] Figure 1 depicts an embodiment of a paste extrusion device (100) according to the invention. The paste extrusion device (100) of figure 1 comprises a syringe holder (101) charged with a syringe (102) filled with paste material. The syringe has a tip (103) from which the paste material is extruded and which allows deposition of said paste material when the paste extrusion device (100) is in operative conditions.

[0105] The syringe (102) also has a syringe plunger (107) located inside the syringe (102). Said syringe plunger (107) is connected to a paste plunger (104) by means of a plunger tip (105) which is introduced inside the syringe (102) and applies pressure on the syringe plunger (107) when in operative conditions so that the pressure applied actuates on the paste material filled within the syringe (102) and the paste material is finally released out of the paste extrusion device (100) through the tip (103).

[0106] As shown in figure 1 , the paste extrusion device (100) also comprises a paste actuator (106) actuating on the paste plunger (104) which further permits applying pressure on the syringe plunger (107), successively permitting the extrusion of a predetermined amount of paste material off the syringe (102). The paste actuator (106) is actuated by means of a hydraulic port (109) and a pneumatic port (108).

[0107] The hydraulic port (109) is set in fluidic communication with an oil chamber (111) and is configured for driving oil flow within said oil chamber (111). The pneumatic port (108) is set in fluidic communication with an air chamber (112) and is configured for driving an air flow within said air chamber (112).

[0108] As shown in figure 1, the hydraulic port (109) is located upstream the paste actuator (106) and the pneumatic port (108) is located downstream the paste actuator (106).

[0109] The paste extrusion device (100), when in operative conditions, is set in one of the three following modes:

[0110] In a first mode, the pneumatic port (108) exhausts air of the air chamber (112) and the hydraulic port (109) impedes oil flow so that the oil volume of the oil chamber (111) is constant and the paste plunger (104) remains stationary. In this particular mode, the paste extrusion device (100) is pressurized but not extruding any paste material.

[0111] In a second mode, the pneumatic port (108) exhausts air of the air chamber (112) and the hydraulic port (109) injects a predetermined volume of oil flow into the oil chamber (111). The pneumatic port (108) thus actuates the paste actuator (106) so that the paste material is extruded through the tip (103). In this particular mode, the paste material is outputted of the syringe (102).

[0112] In a third mode, the pneumatic port (108) injects pressurized air in the air chamber (112) and the hydraulic port (109) outputs the predetermined volume of oil flow off the oil chamber (111) so that the paste plunger (104) and the plunger tip (105) are lifted and removed from the syringe (102). In this particular mode, the paste plunger (104) is out of the syringe (102) when the syringe (102) runs out of paste material and is to be replaced by a new syringe (102) filled with paste material so that extrusion continues.

[0113] In an embodiment, the paste extrusion device (100) is made of stainless steel and aluminum.

[0114] In an embodiment, the paste actuator (106) is a hydraulic cylinder actuator.

[0115] In an embodiment, the syringe (102) is filled with paste material comprising hydrogel and biomaterial.

[0116] In the embodiment shown in figure 1 , the paste extrusion device (100) further comprises a probe (110) which is configured for determining the distance between the tip (103) and a printing surface.

[0117] In an embodiment, the tip (103) of the syringe (102) is sterilizable. In an embodiment, the syringe plunger (107) is sterilizable. In an embodiment, the tip (103) of the syringe (102) and the syringe plunger (107) are both sterilizable.

[0118] In an embodiment, the syringe (102) is configured to be replaced when the syringe placed within the syringe holder (101) runs out of paste material. In this case, a new syringe (102) filled with paste material and including a new syringe plunger (107) is inserted within the paste extrusion device (100).

[0119] In an embodiment, not shown in figure 1 , the paste extrusion device (100) further comprises a pressure sensor configured for detecting overpressure. The pressure sensor is connected to the hydraulic port (109) so that said pressure sensor is able to provide monitoring of the pressure of the oil flow and avoid overpressure.

[0120] In an embodiment, the hydraulic port comprises flux control means in order to ensure optimal repetitiveness of the printing and start-stop capability.

[0121] Figure 2 shows an embodiment of a liquid deposition device (200) according to an embodiment of the present invention.

[0122] The liquid deposition device (200) of figure 2 comprises a cover (208) housing the elements of said liquid deposition device (200). The liquid deposition device (200) includes an air inlet (202) and a hollow needle (203) both in fluidic communication and configured for allowing the introduction of air into a liquid tank (204).

[0123] The liquid tank (204) comprises a liquid stopper (205) delimiting the capacity of the liquid volume capacity of the liquid tank (204) and a liquid outlet (206). In the particular embodiment of figure 2, the liquid tank (204) is connected to the liquid outlet (206) by means of an adapter (209), which provides fluidic communication between the liquid tank and the liquid outlet (206). The liquid outlet (206) permits outputting a predetermined amount of liquid material.

[0124] Also, as shown in figure 2, the hollow needle (203) is inserted into the liquid stopper (205) so that, when air flow is introduced into the liquid tank (204) through the air inlet (202) and the hollow needle (203), the deposition of liquid material is outputted off the liquid tank (204) through the liquid outlet (206).

[0125] In an embodiment, as the one shown in figure 2, the liquid outlet (206) further comprises a valve (207), preferably a microvalve, configured for being actuated and for depositing dots of liquid material. In an embodiment, the cover (208) further comprises opening means configured for opening at least a portion of the cover (208). The opening means helps for replacing / refilling the liquid tank (204) when said liquid tank (204) runs out of liquid material.

[0126] In an embodiment, the liquid outlet (206) further comprises a temperature controlling system (213).

[0127] In an embodiment, as shown in figure 2, the liquid deposition device (200) includes blocking means (210) in order to ensure locking and correct placement of the cover (208) when the liquid deposition device (200) is in operative conditions. Said blocking means (210) are configured to open and close when the liquid tank (204) is to be replaced or refilled with liquid material. Also, the blocking means (210) helps fixing the coupling and provides stability between the liquid deposition device (200) and a pneumatic cylinder (212) by means of a liquid head holder (211).

[0128] Additionally, the liquid deposition device (200) can be uncoupled from the head printer not shown in this figure, in order to be removed for cleaned or repaired.

[0129] Figures 3A and 3B show two embodiments of a portion of the liquid deposition device (200) in operative conditions.

[0130] In figure 3A, the liquid deposition device (200) is pressurized and filled with air injected through the air inlet (202). The pressurization is represented in figure 3A by the two-way arrow. In these particular conditions, the liquid material located within the liquid tank (204) remains stationary and, thus, is not deposited nor outputted of the liquid tank (204) through the liquid outlet (206).

[0131] In figure 3B, additional air is injected within the liquid deposition device (200) through the air inlet (202) and said air is injected directly into the liquid material by means of the hollow needle (203). Then, the valve (207) is actuated so that it opens and closes quickly in order to deposit liquid material in the form of dots. Said pressure provided by the air introduced into the liquid material provokes that the liquid material is able to be deposited through the liquid outlet (206). Figure 4 depicts a head printer (300) according to an embodiment of the invention.

[0132] The head printer (300) comprises a paste extrusion device (100) for depositing paste material according to any embodiment of the invention, and at least one liquid deposition device (200) for depositing liquid material according to any embodiment of the invention.

[0133] In an embodiment, as the one shown in figure 4, the head printer (300) comprises a paste extrusion device (100), a first liquid deposition device (200) located at the left side of the paste extrusion device (100) and a second liquid deposition device (200) located at the right side of the paste extrusion device (100). Both the first and the second deposition devices (200) are from a same embodiment of the liquid deposition device (200) of the invention.

[0134] In an embodiment, the first liquid deposition device (200) is configured for depositing a first liquid material and the second liquid deposition device (200) is configured for depositing a second liquid material. In an embodiment, the first liquid material and the second liquid material are different materials.

[0135] In an embodiment, the head printer (300) further comprises at least one hydraulic pump (not shown) connected to the paste extrusion device by means of a hose and at least one valve configured for purging the hose.

[0136] In the embodiment of figure 4, the first and second liquid deposition devices (200) each respectively comprise a valve (not shown) and a pneumatic cylinder (212).

[0137] The invention further provides a method, according to the fifth inventive aspect of the invention, for depositing paste material and liquid material by means of a head printer (300), for example as the one shown in figure 4, the method comprising the following steps: a) providing a syringe (102), b) inserting the syringe (102) inside a syringe holder (101) of a paste extrusion device (100), the syringe (102) having a tip (103) defining a predetermined deposition position, c) providing liquid material in a liquid tank (204) of an at least one liquid deposition device (200) and introducing air into the liquid tank (204) of the at least one liquid deposition device (200), d) setting the head printer (300) at a predetermined starting point, e) actuating at least one pneumatic cylinder (212) for lowering the liquid deposition device (200) from an initial position to a predetermined printing position, the predetermined printing position being lower than the tip (103) of the syringe (102) with respect to the vertical axis Z-Z’, f) depositing the liquid material along a predetermined path within the horizontal plane XY and through the liquid outlet (206), preferably by means of the valve (207) of the liquid outlet (206), starting from the predetermined printing position, g) stopping the deposition of liquid material and lifting the head printer (300) when the deposition of liquid material is over, h) actuating the at least one pneumatic cylinder (212) for lifting the liquid deposition device (200) from the predetermined printing position to the initial position, the initial position being higher than the tip of the syringe (102) with respect to the vertical axis Z-Z’, i) actuating a paste actuator (106) for depositing paste material through the tip (103) of the syringe (102), the deposition of paste material starting at the position where the liquid deposition device stopped after step g), j) moving the head printer (300) along the predetermined path and within an horizontal plane XY, perpendicular to the vertical axis Z-Z’, while the paste material is being deposited, k) stopping the deposition of paste material and lifting the head printer (300) when the deposition of paste material is over.

[0138] The invention further provides a method, according to the sixth inventive aspect of the invention, for depositing paste material and liquid material by means of a head printer (300), for example as the one shown in figure 4, the method comprising the following steps: a) providing a syringe (102), b) inserting the syringe (102) inside a syringe holder (101) of a paste extrusion device (100), the syringe (102) having a tip (103) defining a predetermined deposition position, c) providing liquid material in a liquid tank (204) of an at least one liquid deposition device (200) and introducing air into the liquid tank (204) of the at least one liquid deposition device (200), d) setting the head printer (300) at a predetermined starting point, e) actuating a paste actuator (106) for depositing paste material through the tip (103) of the syringe (102), f) moving the head printer (300) along a predetermined path and within an horizontal plane XY, perpendicular to the vertical axis Z-Z’, while the paste material is being deposited starting from the predetermined printing position, g) stopping the deposition of paste material and lifting the head printer (300) when the deposition of paste material is over, h) actuating at least one pneumatic cylinder (212) for lowering the liquid deposition device (200) from an initial position to a predetermined printing position, the predetermined printing position being lower than the tip of the syringe (102) with respect to the vertical axis Z-Z’, i) depositing the liquid material along the predetermined path within the horizontal plane XY and through the liquid outlet (206), preferably by means of the valve (207) of the liquid outlet (206), the deposition of liquid material starting at the position where the paste extrusion device (200) stopped after step g), j) stopping the deposition of liquid material and lifting the head printer (300) when the deposition of liquid material is over, k) actuating the at least one pneumatic cylinder (212) for lifting the liquid deposition device (200) from the predetermined printing position to the initial position, the initial position being higher than the tip of the syringe (102) with respect to the vertical axis Z-Z’.

Claims

CLAIMS1. A paste extrusion device (100) for depositing paste material comprising:- a syringe holder (101) configured for charging a syringe (102), the syringe having a tip (103) and a syringe plunger (107) located inside the syringe (102), said syringe (102) being adapted for providing paste material,- a paste plunger (104) comprising a plunger tip (105), the plunger tip (105) being configured for being introduced inside the syringe (102) and for applying pressure on the syringe plunger (107),- a paste actuator (106) comprising an hydraulic port (109) configured for driving an oil flow in an oil chamber (111) and a pneumatic port (108) configured for driving an air flow in an air chamber (112), the paste actuator (106) being configured for actuating the paste plunger (104), the paste plunger (104) in turn actuating the syringe plunger (107) and the syringe plunger (107) extruding a predetermined amount of paste material off the syringe (102), wherein the hydraulic port (109) is located upstream the paste actuator (106) and the pneumatic port (108) is located downstream the paste actuator (106) and wherein, in a first mode the pneumatic port (108) is configured for exhausting air of the air chamber (112) and the hydraulic port (109) is configured for impeding oil flow so that the oil volume of the oil chamber (111) is constant and the paste plunger (104) remains stationary, or in a second mode, the pneumatic port (108) is configured for exhausting air of the air chamber (112) and the hydraulic port (109) is configured for injecting a predetermined volume of oil flow into the oil chamber (111) and actuating the paste actuator (106) so that the paste material is extruded through the tip (103), or in a third mode, the pneumatic port (108) is configured for injecting pressurized air in the air chamber (112) and the hydraulic port (109) is configured for outputting the predetermined volume of oil flow off the oil chamber (111) so that the paste plunger (104) and the plunger tip (105) are lifted and removed from the syringe (102).2.- The paste extrusion device (100) according to the preceding claim wherein the paste extrusion device (100) further comprises a probe (110) configured for determining the distance between the tip (103) and a printing surface.3.- The paste extrusion device (100) according to any of the preceding claims, wherein the tip (103) is sterilizable.4.- The paste extrusion device (100) according to any of the preceding claims wherein the paste extrusion device (100) further comprises a pressure sensor configured for detecting overpressure.5.- A liquid deposition device (200) for depositing liquid material, the liquid deposition device (200) having a cover (208), wherein the liquid deposition device (200) comprises:- an air inlet (202) and a hollow needle (203), both configured for introducing air into a liquid tank (204), the air inlet (202) and the hollow needle (203) being in fluidic communication,- the liquid tank (204) comprising a liquid stopper (205) and a liquid outlet (206), the liquid outlet (206) being configured for outputting a predetermined amount of liquid material, wherein the hollow needle (203) is configured for being inserted into the liquid stopper (205) and for actuating the deposition of liquid material through the liquid outlet (206).6.- The liquid deposition device (200) according to the preceding claim, wherein the liquid outlet (206) further comprises a valve (207), preferably a microvalve, configured for depositing dots of liquid material.7.- A head printer (300) comprising:- a paste extrusion device (100) for depositing paste material according to any of claims 1 to 4, and- at least one liquid deposition device (200) for depositing liquid material according to any of claims 5 or 6.8.- The head printer (300) according to the preceding claim, wherein the head printer (300) further comprises:- at least one hydraulic pump connected to a liquid actuator by means of a hose,- at least one valve configured for purging the hose, and- at least one pneumatic cylinder (212) configured for lowering or lifting the at least one liquid deposition device (200).9.- The head printer (300) according to any of claims 7 or 8, wherein the head printer (300) comprises a paste extrusion device (100), a first liquid deposition device (200) and a second liquid deposition device (200).10.- The head printer (300) according to the preceding claim, wherein the first liquid deposition device (200) is configured for depositing a first liquid material and the second liquid deposition device (200) is configured for depositing a second liquid material.11.- A printer comprising a head printer (300) according to any of claims 7 to 10.12.- The printer according to the preceding claim wherein the printer further comprises controlling means configured for actuating the paste extrusion device (100) and the at least one liquid deposition device (200).13.- Method for depositing paste material and liquid material by means of a head printer (300) according to any of claims 7 to 10, the method comprising the following steps: a) providing a syringe (102), b) inserting the syringe (102) inside a syringe holder (101) of a paste extrusion device (100), the syringe (102) having a tip (103) defining a predetermined deposition position, c) providing liquid material in a liquid tank (204) of an at least one liquid deposition device (200) and introducing air into the liquid tank (204) of the at least one liquid deposition device (200), d) setting the head printer (300) at a predetermined starting point, e) actuating at least one pneumatic cylinder (212) for lowering the liquid deposition device (200) from an initial position to a predetermined printing position, the predetermined printing position being lower than the tip (103) of the syringe (102) with respect to the vertical axis Z-Z’,f) depositing the liquid material along a predetermined path within the horizontal plane XY and through the liquid outlet (206), preferably by means of the valve (207) of the liquid outlet (206), starting from the predetermined printing position, g) stopping the deposition of liquid material and lifting the head printer (300) when the deposition of liquid material is over, h) actuating the at least one pneumatic cylinder (212) for lifting the liquid deposition device (200) from the predetermined printing position to the initial position, the initial position being higher than the tip of the syringe (102) with respect to the vertical axis Z-Z’, i) actuating a paste actuator (106) for depositing paste material through the tip (103) of the syringe (102), the deposition of paste material starting at the position where the liquid deposition device stopped after step g), j) moving the head printer (300) along the predetermined path and within an horizontal plane XY, perpendicular to the vertical axis Z-Z’, while the paste material is being deposited, k) stopping the deposition of paste material and lifting the head printer (300) when the deposition of paste material is over.14.- The method for depositing paste material and liquid material by means of a head printer (300) according to the preceding claim, the method comprises the following steps: a) actuating a first liquid deposition device according to steps e) to h) of the method; b) actuating a second liquid deposition device according to steps e) to h) of the method; c) actuating the first or the second liquid deposition device according to steps e) to h) of the method until a predetermined quantity of first and second liquid are deposited; d) actuating the paste extrusion device according to steps i) to k).15.- Method for depositing paste material and liquid material by means of a head printer (300) according to any of claims 7 to 10, the method comprising the following steps: a) providing a syringe (102), b) inserting the syringe (102) inside a syringe holder (101) of a paste extrusion device (100), the syringe (102) having a tip (103) defining a predetermined deposition position,c) providing liquid material in a liquid tank (204) of an at least one liquid deposition device (200) and introducing air into the liquid tank (204) of the at least one liquid deposition device (200), d) setting the head printer (300) at a predetermined starting point, e) actuating a paste actuator (106) for depositing paste material through the tip (103) of the syringe (102), f) moving the head printer (300) along a predetermined path and within an horizontal plane XY, perpendicular to the vertical axis Z-Z’, while the paste material is being deposited starting from the predetermined printing position, g) stopping the deposition of paste material and lifting the head printer (300) when the deposition of paste material is over, h) actuating at least one pneumatic cylinder (212) for lowering the liquid deposition device (200) from an initial position to a predetermined printing position, the predetermined printing position being lower than the tip of the syringe (102) with respect to the vertical axis Z-Z’, i) depositing the liquid material along the predetermined path within the horizontal plane XY and through the liquid outlet (206), preferably by means of the valve (207) of the liquid outlet (206), the deposition of liquid material starting at the position where the paste extrusion device (200) stopped after step g), j) stopping the deposition of liquid material and lifting the head printer (300) when the deposition of liquid material is over, k) actuating the at least one pneumatic cylinder (212) for lifting the liquid deposition device (200) from the predetermined printing position to the initial position, the initial position being higher than the tip of the syringe (102) with respect to the vertical axis Z-Z’.

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