Bioprinter with Vision Feedback for Tissue Enclosure Precision
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Solution Overview
Problem
Current bioprinting technologies face challenges in creating multi-dimensional tissue structures with living cells, as they lack the capability to dispense materials in a pre-designed configuration within a biologic printing environment that promotes organized cell division and tissue creation, especially in constrained spaces like petri dishes, and struggle to convert computer designs into robot commands for precise tissue printing.
Innovation Solution
A multi-dimensional printer system with a computer numerically controlled (CNC) mechanism, including motors with encoders for arbitrary resolution, a motion controller that interfaces with a processor via Ethernet, and a vision system for precise positioning, enabling the printing of biological materials in a tissue enclosure with multiple delivery devices and materials, and returning the delivery device to specific locations for efficient tissue creation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If traditional bioprinting methods are used, then tissue structures can be printed, but the printing precision and organization of cell division are insufficient
Solution Approach 1:
The system divides the bioprinting process into distinct functional modules: a robotic arm for positioning, a syringe dispenser for material delivery, a vision system for tracking, and a CNC control system for coordination. Each module operates independently but is integrated through the control system, allowing high precision without requiring the entire system to be overly complex.
Solution Approach 2:
The patent replaces traditional mechanical printing mechanisms with a robotic arm system controlled by CNC technology. The robotic arm uses servo motors and encoders for precise positioning, while the vision system provides feedback for real-time correction, achieving higher printing precision through automated control rather than pure mechanical design.
2Adaptability or versatility
If multi-dimensional tissue structures are printed, then tissue creation is promoted, but the ability to dispense material in pre-designed configuration is limited
Solution Approach 1:
The system uses a robotic arm with multiple degrees of freedom that can dynamically adjust its position and orientation to deposit materials in complex three-dimensional configurations. The CNC control system translates design specifications into coordinated motion commands, allowing the delivery device to adapt to various printing patterns and geometries.
Solution Approach 2:
The system controls material dispensing by varying multiple parameters including robotic arm position, syringe plunger speed, material flow rate, and deposition timing. These parameters are adjusted in real-time based on the pre-designed configuration, enabling versatile material placement while the control system manages the complexity of coordinating all parameters.
3Manufacturing precision
If constrained printing inside tissue enclosure is implemented, then tissue creation is improved, but the motion control precision is challenged
Solution Approach 1:
The vision system continuously tracks the position of the delivery device and the tissue enclosure boundaries, providing real-time feedback to the CNC control system. This feedback loop allows the system to maintain high positioning precision within the constrained space by detecting and compensating for any deviations from the intended path.
Solution Approach 2:
The system nests the delivery device within the tissue enclosure, with the robotic arm positioned outside and extending into the enclosure through an opening. This nested configuration allows the delivery device to access the constrained printing space while the main robotic mechanism remains outside, maximizing positioning precision within the limited interior volume.
4Adaptability or versatility
If traditional slicing method is used, then printing can be performed, but the ability to print multi-dimensional shapes without slicing is limited
Solution Approach 1:
The system transitions from traditional two-dimensional layer-by-layer slicing to three-dimensional direct writing. The robotic arm moves freely in three-dimensional space within the tissue enclosure, depositing materials along complex spatial paths defined by the design model. This eliminates the need to slice the model into layers and rebuild them sequentially.
Solution Approach 2:
The system performs preliminary processing of the design model to generate toolpath coordinates and motion commands before printing begins. The CNC control system pre-calculates the optimal paths and parameters for the robotic arm to follow, allowing the actual printing process to execute without real-time slicing computations, thus enabling complex three-dimensional printing.
Data Source
AI summary
A system and method for printing cells in a medium. A multi-dimensional printer, stably constructed of low-mass parts, can include a computer numerically controlled system that can enable motors driving delivery systems. The motors can include encoders that can enable achieving arbitrary resolution. The motors can drive ballscrews to enable linear motion of delivery systems, and the delivery systems can enable printing of a biological material in a pre-selected pattern in a petri dish. The petri dish can accommodate a medium such as a gel, and can further accommodate a vision system that can detect actual position and deflection of the delivery system needle. The printer can accommodate multiple delivery systems and therefore multiple needles of various sizes.