CN103815992A - Device and method for 3D printing of multi-branch three-dimensional biological structure - Google Patents
Device and method for 3D printing of multi-branch three-dimensional biological structure Download PDFInfo
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- CN103815992A CN103815992A CN201410016475.XA CN201410016475A CN103815992A CN 103815992 A CN103815992 A CN 103815992A CN 201410016475 A CN201410016475 A CN 201410016475A CN 103815992 A CN103815992 A CN 103815992A
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Abstract
The invention discloses a device and a method for 3D printing of a multi-branch three-dimensional biological structure. The device comprises a working undersurface used for supporting the three-dimensional biological structure, a nozzle fixed above the working undersurface, and a three-dimensional motion workbench mechanism matched with the nozzle to print the three-dimensional biological structure, the three-dimensional motion workbench mechanism comprises at least a pair of auxiliary working surfaces arranged above the working undersurface, and a three-dimensional moving mechanism driving the auxiliary working surfaces to be in three-dimensional motion in x-axis, y-axis and z-axis directions respectively, and two auxiliary working surfaces in each pair are arranged oppositely and positioned on a same horizontal plane constantly to support and hold the three-dimensional biological structure. By the device and the method, printing of a complex overhead eccentric three-dimensional biological structure can be realized without wasting materials, so that the problem that an overhead structure cannot be printed in the prior art is solved; the method is suitable for other three-dimensional printing equipment, thereby having good application prospect.
Description
Technical field
The present invention relates to biomedical engineering and tissue engineering technique field, especially relate to 3D printing equipment and the Method of printing of the three-dimensional biological structure of a kind of multiple branch circuit.
Background technology
At present, countries in the world medical circle has faced many great difficult problems, and one of them difficult problem is exactly that people constantly increase for the demand of organ, but extremely in short supply for the donor organ of organ transplantation, as heart, and lung, liver, kidney and other organs.Solved donor organ problem in short supply through having researched and proposed many schemes, as artificial mechanical's organ, xenotransplant and organizational project etc. in the past.Although artificial mechanical's organ can successfully be implanted in human body, it can have a strong impact on quality of life of patient., although reduced the immunological rejection after implanting, there is the impact of propagating the potential danger of animal virus and patients ' psychological being produced because of long-term taking immunosuppressant in xenotransplant, particularly genetically modified animal organ.Organizational project is the current a kind of technology being expected, and uses the tissue engineering technique structure bionical tissue of the mankind and organ for organ transplantation, is expected to thoroughly solve donor organ this great difficult problem in short supply.
At present, the technology of using in organizational project is mainly solid free forming technology, it comprises Stereolithography technology (Stereo lithography Appearance), extruding deposition technique, inkjet technology etc., wherein, inkjet technology, again according to the operation principle difference of shower nozzle, is divided into two kinds of piezoelectric type and thermal bubble types.
Stereolithography technology is to focus on photo-curing material surface (photosensitive resin) with the light of specific wavelength and intensity, make it by point to line, by line to face consecutive solidification, complete the drawing performance of an aspect, then the lifting platform height of a mobile synusia in the vertical direction, solidify again another aspect, be layering like this and form a 3D solid.In the time printing the structure that needs support, conventionally adopt two kinds of photo-curing materials, a kind of as entity structure material cured, one is solidified as backing material, when structure has been printed, removes backing material, obtains final 3D solid.
Extruding deposition technique conventionally adopts hot solution is expressed in substrate through syringe nozzle, because the operating ambient temperature of outside is low, causes solution to form solid, by by putting to line, pushed to face order by line, obtain an aspect, then be layering, obtain 3D solid.Equally, in the time printing the structure that needs support, conventionally adopt bi-material, extrude respectively through two syringes, while printing, remove backing material, obtain final 3D solid.
For inkjet technology, no matter be piezoelectric type, or thermal bubble type, existing technology is substantially all that a kind of solution is ejected in another kind of solution through shower nozzle, and two kinds of solution reactions form semi-solid structure, same passing through by point to line, pushed to face order by line, obtain an aspect, be then layering, obtain 3D solid.In this technology, be difficult to use expendable material as support, make to print the branch at limited angle of inclination.
Above technology, for hanging structure, if do not adopt backing material, all cannot print, and can only print the branch at limited angle of inclination, once angle is excessive, total will be collapsed.
Patent publication No. is that CN103462725A(application number is 201310339824.7) patent documentation a kind of three-dimensional biological structure printing equipment and method are disclosed, it is by being ejected into sodium alginate drop in calcium chloride solution, form calcium alginate gel, by the accumulation of calcium alginate gel, form simple three-dimensional biological structure, but just very difficult for complicated structure, especially for suspension three-dimensional structure, just cannot print.
Summary of the invention
The invention provides the 3D printing equipment of the three-dimensional biological structure of a kind of multiple branch circuit, existing 3 D-printing equipment is carried out to architecture advances, its Z axis motion platform and workbench part entirety are replaced, without expendable material in the situation that, can print exactly the complicated three-dimensional biological structure of longitudinal long distance.
The present invention also provides the 3D Method of printing of the three-dimensional biological structure of a kind of multiple branch circuit, adopt the 3D printing equipment of three-dimensional biological structure, method is simple, easy operating, cost is low, do not need backing material, only need be by discrete droplet jet to can just printing the three-dimensional biological structure of complex-shaped multiple branch circuit on the back work face of comprehensive adjustment.
The 3D printing equipment of the three-dimensional biological structure of a kind of multiple branch circuit, comprise work bottom surface for supporting three-dimensional biological structure, be fixed on the shower nozzle of top, work bottom surface and coordinate the three-dimensional motion table mechanism of the three-dimensional biological structure of nozzle printing, described three-dimensional motion table mechanism comprises and is arranged at least one pair of back work face of top, work bottom surface and the three-dimensional motion mechanism that the back work face of driving carries out respectively the three-dimensional motion of x-axis, y-axis and z-axis direction; In described a pair of back work face, two back work faces are oppositely arranged, and are positioned at all the time in same level, and three-dimensional biological structure is supported and helped.
As preferred technical scheme, described three-dimensional motion mechanism comprises: X-axis motion, Y-axis motion and Z axis motion, and described Z axis motion comprises: Z axis flat board, described X-axis motion and Y-axis motion are fixed on this Z axis flat board; Z axis motor, described Z axis motor output end is Z-axis transmission screw mandrel; The Z axis screw mandrel slide block being connected with described Z-axis transmission wire rod thread, this Z axis screw mandrel slide block is fixedly connected with described Z axis flat board simultaneously; Be fixed on the Z axis guide rail of the vertical setting of work bottom surface one side; And be fixed on Z axis screw mandrel slide block one side simultaneously and the Z axis guide rail slide block that is slidably matched of described Z axis guide rail, guide described Z axis flat board to carry out that z is axial to be moved back and forth.By above-mentioned Z axis motion, can accurately realize auxiliary table in the axial accurate location of z.
As preferred technical scheme, described Y-axis motion comprises: be fixed on the y-axis motor on Z axis flat board, this y-axis motor outfan is Y-axis drive lead screw; The Y-axis screw mandrel slide block being threaded with described Y-axis drive lead screw; Be fixed on the Y-axis guide rail on Z axis flat board; Be fixed on the Y-axis flat board of Y-axis screw mandrel slide block end face, described X-axis motion is fixed on this Y-axis flat board; Described Y-axis planar bottom surface is fixed with the Y-axis slide block being slidably matched with described Y-axis guide rail, guides described Y-axis flat board to carry out that y is axial to be moved back and forth.By above-mentioned Y-axis motion, can accurately realize auxiliary table in the axial accurate location of y.
As preferred technical scheme, described X-axis motion comprises: be fixed on the X-axis motor on Y-axis flat board, this X-axis motor output end is X-axis drive lead screw; The X-axis screw mandrel slide block being threaded with described X-axis drive lead screw; Be fixed on the X-axis guide rail on Y-axis flat board; Be fixed on the X-axis flat board of X-axis screw mandrel slide block end face, described back work face is fixed on the dull and stereotyped side of this X-axis; Described X-axis planar bottom surface is fixed with the X-axis slide block being slidably matched with described X-axis guide rail, for guiding described X-axis flat board to carry out that x is axial to be moved back and forth, drives the motion of back work face simultaneously.By above-mentioned X-axis motion, can accurately realize auxiliary table in the axial accurate location of x.
As preferred scheme, described work bottom surface surrounding is fixed with four perpendicular plates; Described three-dimensional motion mechanism is along symmetrically arranged four of work bottom surface, is separately fixed on described perpendicular plate.According to the three-dimensional biological structure difference of required printing, can select the three-dimensional motion mechanism of different numbers, be distributed in as required on work bottom surface.Four corresponding four back work faces of three-dimensional motion mechanism, not very fast printing system for curing rate, in actual print procedure, wherein a pair of back work face is for the support platform of print procedure, another for printing portion is supported and helped, avoids the three-dimensional biological structure printed deform and tilt because of insufficient strength back work face.As preferred scheme, the 3D printing equipment of the described three-dimensional biological structure of multiple branch circuit also comprises Z axis supporting construction, described Z axis supporting construction comprises Z axis column guide rail, the cantilever beam being slidably matched with described Z axis column guide rail and the lead screw motor that drives cantilever beam to move back and forth along Z axis column guide rail, and at least one perpendicular plate in the described cantilever beam other end and described four perpendicular plates interfixes.While selecting this technical scheme, can realize the axial adjustment of z to work bottom surface and three-dimensional motion mechanism, make the present invention be suitable for z direction of principal axis shower nozzle mobile model 3 D-printing, be suitable for again z direction of principal axis shower nozzle fixed pattern printer; Be suitable for ink jet type 3 D-printing, photocuring printer and fusion sediment type printer etc., be suitable for again other forms of 3 D-printing.
As preferred scheme, described Z axis column guide rail is provided with gathering sill; Described lead screw motor outfan is provided with column screw mandrel; Described cantilever beam one end is provided with the maneuvering board being slidably matched with gathering sill, is located at the screw coordinating with described column wire rod thread on this maneuvering board.Drive column screw mandrel by lead screw motor, adjust the position of maneuvering board on Z axis column guide rail, thereby be conducive to accurately control the position of work bottom surface in the vertical direction, the i.e. position of Z-direction.
For realizing the automatic control of print procedure, as preferred scheme, described shower nozzle, lead screw motor, X-axis motor, y-axis motor and Z axis motor are all controlled by same controller.
As preferred scheme, described back work face interfixes by dull and stereotyped perpendicular plate and the dull and stereotyped side of described X-axis; Described back work face and described dull and stereotyped perpendicular plate are for removably connecting; In described a pair of back work face, on two back work faces, be respectively equipped with preformed hole or the reserved breach corresponding with the three-dimensional biological structure of described multiple branch circuit.In the present invention, back work face can be changed according to the size and dimension of the three-dimensional biological structure of printing, if when the structural section between two branch roads is circle, on back work face, there is half round cut, in the time that 2 just right back work faces merge, form circumferential notch, the structure that branch structure can have been beaten with its below links up.For meeting the needs of differing heights organism, can select to utilize highly adjustable or dismountable dull and stereotyped perpendicular plate that back work face and three-dimensional motion mechanism are interfixed, by highly adjustable or dismountable dull and stereotyped perpendicular plate, back work face is fixed, can produces the organism of differing heights.For meeting the needs of multiple branch circuit organism, can be in the time that needs be printed the 3rd branch road, 2 symmetrical back work faces that support first branch road are separated, under the control of three-dimensional motion mechanism, move to the top of second branch road, realize the printing of the 3rd branch road, equally in the time printing the 4th branch road, 2 symmetrical back work faces that can support second branch road by control are realized, back work face by vertical distribution alternately, can produce the organism of multiple branch roads.
The direction of motion of Y-axis flat board is vertical with the direction of motion of back work face, by the cooperation of Y-axis motion and X-axis motion, make back work face can be in horizontal plane two dimensional motion.By the cooperation of Z axis motion, Y-axis motion and X-axis motion, the back work face of making can carry out three-dimensional motion under three-dimensional motion mechanism control, back work face is carried out to comprehensive adjustment, by the cooperation of 4 three-dimensional motion mechanisms, the bias of implementation structure, on back work face, form different structure thereby be conducive to shower nozzle, the biological hollow or solid construction of three-dimensional of the complicated shape of differing heights.
In the present invention, to utilize patent publication No. CN103462725A(application number as CN201310339824.7) in 3 D-printing equipment and operation principle as example, method of the present invention is described, the method is suitable for other 3 D-printing equipment too.Above-mentioned 3 D-printing equipment comprises printing mechanism, coordinates printing mechanism to print motion workbench mechanism and the Work container of three-dimensional biological structure; Above-mentioned printing mechanism comprises the shower nozzle driving mechanism that sprays the shower nozzle of biological ink and control described shower nozzle injection and move, and in the present invention, Z axis motion platform and workbench part entirety is replaced, and carries out the printing of complex biological structure.Shower nozzle under the effect of shower nozzle driving mechanism by discrete droplet jet to work bottom surface on, the lead screw motor of 3 D-printing equipment drives 4 three-dimensional motion mechanisms in the present invention to move together with work bottom surface, three-dimensional motion mechanism carries out comprehensive adjustment to back work face simultaneously, pass through shower nozzle, shower nozzle driving mechanism, the motion of work bottom surface and back work face just can generate the biological hollow or solid construction of three-dimensional of complicated shape, overcome the difficulty of traditional manufacture hanging structure, and by the Accommodation of Z axis supporting mechanism, can realize the printing of the long dimensional structure of Z direction.
A 3D Method of printing for the three-dimensional biological structure of multiple branch circuit, comprising:
(1) according to CT scan device data, the three-dimensional biological structure model of application CAD software design;
(2), by the solid data of the three-dimensional biological structure model of above-mentioned CAD software design, through the processing of delamination software hierarchy slicing, formation respective code is input in the 3D printing equipment of the three-dimensional biological structure of multiple branch circuit described in above-mentioned arbitrary technical scheme;
(3) by shower nozzle, biological ink is ejected on work bottom surface, back work face supports and helps three-dimensional biological structure as required under three-dimensional motion mechanism drives, and obtains the three-dimensional biological structure of multiple branch circuit degree of growing tall on work bottom surface.
The present invention forms principle in conjunction with the 3 D-printing equipment in above-mentioned patent and three-dimensional biological structure, its Z axis motion platform and workbench part entirety are replaced, advantage and the Method of printing of this device are described, by device of the present invention, can realize without expendable material in the situation that, print the complicated three-dimensional biological structure of unsettled bias, solve the problem that cannot print hanging structure in above-mentioned patent, and the method can be applicable to again other 3 D-printing equipment, there is good application prospect.
Compared with prior art, tool of the present invention has the following advantages:
One, the 3D printing equipment of the three-dimensional biological structure of the present invention, the particularly architecture advances to motion workbench mechanism, three-dimensional motion mechanism is moved up and down along Z axis under the driving of Z axis supporting mechanism, three-dimensional motion mechanism can carry out comprehensive adjustment to back work face simultaneously, just can generate the three-dimensional biological hollow or solid construction of multiple branch circuit of complicated shape by the motion of shower nozzle, Z axis supporting mechanism, three-dimensional motion mechanism, back work face and work bottom surface, overcome the difficulty of traditional manufacture hanging structure.The replaceable design of back work face, convenient different size, the difform three-dimensional biological structure printed.The replaceable design of dull and stereotyped perpendicular plate, the convenient three-dimensional biological structure of printing differing heights.Alternately supporting of back work face, can print the three-dimensional biological structure of multiple branch circuit.
Two, the inventive method is simple, easy operating, and cost is low, does not need backing material, utilizes back work face as branch road gripper shoe, can generate the biological hollow or solid construction of eccentric three-dimensional.For difform three dimensional structure, only need to change threedimensional model, adjust print parameters, just can directly prepare the three-dimensional rack with various structures and certain mechanical property.
Three, this method is not only confined to droplet ejection printing, is equally applicable to other relevant 3 D-printing equipment, only need to use same device, has good application prospect.
Accompanying drawing explanation
Fig. 1 is the schematic flow sheet of the 3D Method of printing of the three-dimensional biological structure of multiple branch circuit of the present invention;
Fig. 2 is that the 3D printing equipment of the three-dimensional biological structure of multiple branch circuit of the present invention is in conjunction with the structural representation of 3 D-printing equipment;
Fig. 3 is the structural representation of the 3D printing equipment of the three-dimensional biological structure of multiple branch circuit of the present invention;
Fig. 4 is the structural representation of two symmetrical three-dimensional motion mechanisms of the present invention;
Fig. 5 is the structural representation of Y-axis motion of the present invention;
Fig. 6 is the three-dimensional biological structure working state schematic representation of printing of the present invention " king " type;
Fig. 7 is printing complex three-dimensional biological structure working state schematic representation of the present invention;
Fig. 8 is the three-dimensional biological structure working state schematic representation of printing crankshaft of the present invention;
In figure: 1 is column screw mandrel, 2 is Z axis column guide rail, 3 is maneuvering board, 4 is installing plate, 5 is cantilever beam, 6 is Z axis motor, 7 is Z axis motor base, 8 is Z shaft coupling, 9 is Z-axis transmission screw mandrel, 10 is Z axis screw mandrel slide block, 11 is perpendicular plate, 12 is Z axis guide rail, 13 is Z guide rail slide block, 14 hold for Z axis, 15 is Z axis base plate, 16 is Z axis flat board, 17 is Y-axis motion, 18 is Y-axis flat board, 19 is X-axis motion, 20 is X-axis flat board, 21 is dull and stereotyped perpendicular plate, 22 is back work face, 23 is work bottom surface, 24 is Y-axis guide rail, 25 is Y-axis slide block, 26 is Y-axis screw mandrel slide block, 27 is Y-axis drive lead screw, 28 hold for Y-axis, 29 is firm banking, 30 is y-axis motor, 31 is shower nozzle, 32 is Work container, 33 is brace table, 34 is two-dimension moving platform.
The specific embodiment
As shown in Fig. 2, Fig. 3, Fig. 4 and Fig. 5, the 3D printing equipment of the three-dimensional biological structure of a kind of multiple branch circuit, comprising: Z axis supporting mechanism, cooperation printing mechanism are printed three-dimensional motion table mechanism and the work bottom surface 23 of three-dimensional biological structure.Three-dimensional motion table mechanism comprises the three-dimensional motion mechanism of back work face 22 and 22 three-dimensional motions of the back work face of driving.
Three-dimensional motion table mechanism has 4, is distributed in symmetrically on work bottom surface 23.
As shown in Figure 3, Z axis supporting mechanism comprises fixing Z axis column guide rail 2 vertically relative to ground, the maneuvering board 3 that is slidably matched with Z axis column guide rail 2, is arranged on installing plate 4 on maneuvering board 3 and the fixing and horizontally disposed cantilever beam 5 with installing plate 4.One in above-mentioned 4 three-dimensional motion table mechanisms is arranged on cantilever beam 5, by Z axis column guide rail 2,4 three-dimensional motion table mechanisms is moved together with z direction of principal axis with work bottom surface 23.Z axis column guide rail 2 drives by column screw mandrel 1 and lead screw motor (not shown) with maneuvering board 3, be in Z axis column guide rail 2, to be provided with the slideway sliding for maneuvering board 3, in slideway, be provided with and the column screw mandrel 1 of maneuvering board 3 threaded engagement, column screw mandrel 1 is driven by lead screw motor.Drive column screw mandrel 1 by lead screw motor, adjust the position of maneuvering board 3 on Z axis column guide rail 2, i.e. the position of Z-direction.
The other end of cantilever beam 5 is provided with three-dimensional motion mechanism.Three-dimensional motion mechanism comprise Z axis motion, with the fixing Y-axis motion 17 of Z axis motion and with the fixing X-axis motion 19 of Y-axis motion 17.
Z axis motion is driven by Z axis motor 6, Z axis motor 6 is fixedly installed on Z axis motor base 7, Z axis motor base 7 is arranged on perpendicular plate 11, Z axis motor 6 is connected with Z-axis transmission screw mandrel 9 by Z shaft coupling 8, Z-axis transmission screw mandrel 9 holds 14 by Z axis and is arranged on Z axis base plate 15, Z axis base plate 15 is arranged on above-mentioned perpendicular plate 11, Z axis screw mandrel slide block 10 with Z-axis transmission screw mandrel 9 threaded engagement is installed on Z-axis transmission screw mandrel 9, on Z axis screw mandrel slide block 10, be installed with Z axis flat board 16, Z axis screw mandrel slide block 10 is fixedly installed on the Z guide rail slide block 13 between Z-axis transmission screw mandrel 9 and perpendicular plate 11, Z guide rail slide block 13 is arranged on Z axis guide rail 12, Z axis guide rail 12 is arranged on perpendicular plate 11.By said structure, make Z axis flat board 16 can be in a perpendicular accurate rectilinear motion.Wherein, a perpendicular plate 11 is arranged on cantilever beam 5.
Y-axis motion 17 is driven by y-axis motor 30, y-axis motor 30 is fixedly installed on firm banking 29, firm banking 29 is arranged on Z axis flat board 16, y-axis motor 30 is connected with Y-axis drive lead screw 27 by Y shaft coupling (not shown), Y-axis drive lead screw 27 holds 28 by Y-axis and is arranged on firm banking 29, on Y-axis drive lead screw 27, be provided with on the Y-axis screw mandrel slide block 26 with Y-axis drive lead screw 27 threaded engagement, on Z axis flat board 16, be fixedly installed Y-axis guide rail 24, Y-axis guide rail 24 Parallel Symmetrics are distributed in the both sides of firm banking 29, Y-axis slide block 25 is installed on Y-axis guide rail 24, on Y-axis screw mandrel slide block 26 and Y-axis slide block 25, Y-axis flat board 18 is installed.By said structure, make Y-axis flat board 18 can be in a horizontal plane accurate rectilinear motion.
The direction of motion of Y-axis flat board 18 is vertical with the direction of motion of back work face 22, by the cooperation of Y-axis motion 17 and X-axis motion 19, make back work face 22 can be in horizontal plane two dimensional motion.By the cooperation of Z axis motion, Y-axis motion 17 and X-axis motion 19, the back work face of making 22 can carry out three-dimensional motion under three-dimensional motion mechanism control, back work face 22 is carried out to comprehensive adjustment, by the cooperation of 4 three-dimensional motion mechanisms, the bias of implementation structure.
X-axis motor, y-axis motor 30, Z axis motor 6 and lead screw motor are all connected with control section, control section is connected with motion platform with shower nozzle driving mechanism simultaneously, in controlling shower nozzle 31 and motion platform work, change the state of back work face 22 by controlling X-axis motor, y-axis motor 30, Z axis motor 6 and lead screw motor, realize the printing of the three-dimensional biological structure of complicated multiple branch circuit degree of growing tall.
As shown in Figure 1, a kind of 3D Method of printing of three-dimensional biological structure, take CT scan equipment and CAD software as basis, utilizes the three-dimensional biological structure of the controlled complicated multiple branch circuit degree of growing tall of 3D printing equipment printing speed of three-dimensional biological structure.
The 3D Method of printing of the three-dimensional biological structure of this multiple branch circuit, is specifically achieved in that
Step (1), according to CT scan device data, is applied the accurate three-dimensional biological structure model of CAD software design;
Step (2) converts the solid data of the three-dimensional biological structure model of above-mentioned CAD software design to the abbreviation of STL(STereo Lithography) formatted file, through the processing of delamination software hierarchy slicing, form respective code and be input in the 3D printing equipment of three-dimensional biological structure;
The droplet jet that step (3) is formed biological ink according to code control shower nozzle 31 by the 3D printing equipment of three-dimensional biological structure is in the reaction solution in Work container 32, Work container 32 is placed on brace table 33, utilize two-dimension moving platform 34 to control the movement of shower nozzle 31 simultaneously, by the motion of Z axis supporting mechanism control work bottom surface 23, on work bottom surface 23, can form complicated three-dimensional biological structure;
Step (4) is in the time that needs are printed the first branch structure, Z axis motor 6 in symmetrical 2 three-dimensional motion mechanisms of control unit control is worked, the back work face of making 22 moves to the upper surface sustained height of upper surface and the structure of having printed above, then control X-axis machine operation, make two back work face 22 move toward one another and merge, breach between 2 back work faces 22 is just by the structure filling of having printed above, then shower nozzle 31 works on, on the new working face being formed by two back work faces 22, generate new structure, the center of gravity of newly-generated structure can be with the center of gravity of the structure of having printed above in same perpendicular,
Step (5) is in the time that needs are printed the second branch structure, Z axis motor 6 in remaining 2 the symmetrical three-dimensional motion mechanisms of control unit control is worked, the back work face of making 22 moves to the upper surface sustained height of the structure of having printed in upper surface and preceding step (4), then control X-axis machine operation, make two back work face 22 move toward one another and merge, breach between 2 back work faces 22 is just also by the structure filling of having printed above, then shower nozzle 31 works on, also on the new working face being formed by two back work faces 22, generate new structure, the center of gravity of newly-generated structure also can be with the center of gravity of the structure of having printed above in same perpendicular, if in step (4) center of gravity of newly-generated structure with the center of gravity of the structure of having printed above not in same perpendicular, in the time printing the second branch structure, except needs are controlled X-axis machine operation, also needing to control y-axis motor 30 works, breach after the back work face of making 22 merges is just by the structure filling of having printed above, then shower nozzle 31 is worked, and generates new three-dimensional biological structure,
Step (6) is in the time that needs are printed the 3rd branch structure, 2 back work faces 22 that support first branch road are separated, under the control of three-dimensional motion mechanism, the back work face of making 22 moves to the upper surface sustained height of the structure of having printed in upper surface and preceding step (5), the work of repeating step (5), realizes the biological structure of the 3rd branch road and prints; In the time that needs are printed the 4th branch structure, 2 back work faces 22 that support second branch road are separated, then repeat work above, realize the biological structure of the 4th branch road and print;
Step (7) repeats step (6) above, pass through three-dimensional motion mechanism, the back work face of making 22 ceaselessly changes Support Position in three dimensions, through the 3D printing equipment of three-dimensional biological structure do not stop print, can obtain the three-dimensional biological structure of multiple branch circuit degree of growing tall of controlled complexity.Three-dimensional biological structure can be hollow or solid construction.
Embodiment 1
The preparation process of biomaterial of the present invention: form three-dimensional biological structure, selectable material has a variety of, take sodium alginate and calcium chloride three dimensional structure as example, using sodium alginate soln as biological ink, calcium chloride solution, as reaction solution, configures respectively 1000ml0.8%(wt) sodium alginate soln and 10%(wt) calcium chloride solution.
As shown in Fig. 2, Fig. 3, Fig. 4 and Fig. 6, printed drawings 6(a) shown in the three-dimensional biological structure of " king " type, cross section be circle, step is as follows:
The accurate three-dimensional biological structure model of step (1) application CAD software design;
Step (2) converts the solid data of the three-dimensional biological structure model of above-mentioned CAD software design to STL formatted file, through the processing of delamination software hierarchy slicing, forms respective code and is input in the 3D printing equipment of three-dimensional biological structure;
Step (3) according to the injection of code control shower nozzle 31, is controlled the movement of shower nozzle 31 and the motion of work bottom surface 23 by the 3D printing equipment of three-dimensional biological structure simultaneously, forms the A part of biological structure, as shown in Figure 6 (b) on work bottom surface 23;
Step (4) as shown in Figure 6 (c), in the time that needs are printed the first branch structure, Z axis motor 6 in symmetrical 2 three-dimensional motion mechanisms of control unit control is worked, the back work face of making 22 moves to the upper surface sustained height of upper surface and the structure A having printed above, then control X-axis machine operation, make two back work face 22 move toward one another and merge, breach between 2 back work faces 22 is just filled by the structure A having printed above, then shower nozzle 31 works on, on the new working face being formed by two back work faces 22, generate the B part of biological structure, as shown in Fig. 6 (d),
Step (5) as shown in Figure 6 (e), in the time that needs are printed the second branch structure, Z axis motor 6 in remaining 2 the symmetrical three-dimensional motion mechanisms of control unit control is worked, the back work face of making 22 moves to the upper surface sustained height of the structure B having printed in upper surface and preceding step (4), then control X-axis machine operation, make two back work face 22 move toward one another and merge, breach between 2 back work faces 22 is just also filled by the structure B having printed above, then shower nozzle 31 works on, on the new working face being formed by two back work faces 22, generate the C part of biological structure, as shown in Fig. 6 (f),
Step (6) is deposited the structure of printing a period of time in reaction solution, and rise the bottom surface 23 of then working, and just obtains the three-dimensional biological structure of " king " type as shown in Figure 6 (a).
For similar structures as shown in Figure 6 (a), this method can also be printed complicated three-dimensional biological structure on each branch road, is not only " ⊥ " type structure.
The preparation process of biomaterial of the present invention: form three-dimensional biological structure, selectable material has a variety of, take sodium alginate and calcium chloride three dimensional structure as example, using sodium alginate soln as biological ink, calcium chloride solution, as reaction solution, configures respectively 1000ml0.8%(wt) sodium alginate soln and 10%(wt) calcium chloride solution.
As shown in Figure 7, printed drawings 7(a) shown in three-dimensional biological structure, make the wherein 2 symmetrical back work faces 22 in 3D printing equipment into as shown in Figure 7 (b) shows structure, then carry out following steps:
The accurate three-dimensional biological structure model of step (1) application CAD software design;
Step (2) converts the solid data of the three-dimensional biological structure model of above-mentioned CAD software design to STL formatted file, through the processing of delamination software hierarchy slicing, forms respective code and is input in the 3D printing equipment of three-dimensional biological structure;
Step (3) according to the injection of code control shower nozzle 31, is controlled the movement of shower nozzle 31 and the motion of work bottom surface 23 by the 3D printing equipment of three-dimensional biological structure simultaneously, forms the A part of biological structure, on work bottom surface 23 as shown in Fig. 7 (c);
Step (4) is as shown in Fig. 7 (d), in the time that needs are printed the first branch structure, Z axis motor 6 in symmetrical 2 three-dimensional motion mechanisms of control unit control is worked, the back work face of making 22 moves to the upper surface sustained height of upper surface and the structure A having printed above, then control X-axis machine operation, make two back work face 22 move toward one another and merge, breach between 2 back work faces 22 is just filled by the structure A having printed above, then shower nozzle 31 works on, on the new working face being formed by two back work faces 22, generate the B part of biological structure, as shown in Fig. 7 (e),
Step (5) is as shown in Fig. 7 (f), in the time that needs are printed the second branch structure, Z axis motor 6 in remaining 2 the symmetrical three-dimensional motion mechanisms of control unit control is worked, the back work face of making 22 moves to the upper surface sustained height of the structure B having printed in upper surface and preceding step (4), then control X-axis machine operation, make two back work face 22 move toward one another and merge, breach between 2 back work faces 22 is just also filled by the structure B having printed above, then shower nozzle 31 works on, on the new working face being formed by two back work faces 22, generate the C part of biological structure, as shown in Fig. 7 (g),
Step (6) is deposited the structure of printing a period of time in reaction solution, and rise the bottom surface 23 of then working, and just obtains three-dimensional biological structure as shown in Figure 7 (a).
The preparation process of biomaterial of the present invention: form three-dimensional biological structure, selectable material has a variety of, take sodium alginate and calcium chloride three dimensional structure as example, using sodium alginate soln as biological ink, calcium chloride solution, as reaction solution, configures respectively 1500ml0.8%(wt) sodium alginate soln and 10%(wt) calcium chloride solution.
As shown in Figure 8, printed drawings 8(a) shown in the three-dimensional biological structure step of crankshaft as follows:
The accurate three-dimensional biological structure model of step (1) application CAD software design;
Step (2) converts the solid data of the three-dimensional biological structure model of above-mentioned CAD software design to STL formatted file, through the processing of delamination software hierarchy slicing, forms respective code and is input in the 3D printing equipment of three-dimensional biological structure;
Step (3) according to the injection of code control shower nozzle 31, is controlled the movement of shower nozzle 31 and the motion of work bottom surface 23 by the 3D printing equipment of three-dimensional biological structure simultaneously, forms the A part of biological structure, as shown in Figure 8 (b) shows on work bottom surface 23;
Step (4) is as shown in Fig. 8 (c), in the time that needs are printed the first branch structure, Z axis motor 6 in symmetrical 2 three-dimensional motion mechanisms of control unit control is worked, the back work face of making 22 moves to the upper surface sustained height of upper surface and the structure A having printed above, then control X-axis machine operation, make two back work face 22 move toward one another and merge, breach between 2 back work faces 22 is just filled by the structure A having printed above, then shower nozzle 31 works on, on the new working face being formed by two back work faces 22, generate the B part of biological structure, the center of gravity of newly-generated structure B with the center of gravity of the structure A having printed above not in same perpendicular, as shown in Fig. 8 (d),
Step (5) is as shown in Fig. 8 (e), in the time that needs are printed the second branch structure, Z axis motor 6 in remaining 2 the symmetrical three-dimensional motion mechanisms of control unit control is worked, the back work face of making 22 moves to the upper surface sustained height of the structure B having printed in upper surface and preceding step (4), then control X-axis motor and y-axis motor 30 is worked, make two two-dimentional move toward one another of back work face 22 and merge, breach between 2 back work faces 22 is just also filled by the structure B having printed above, then shower nozzle 31 works on, also on the new working face being formed by two back work faces 22, generate the C part of biological structure, the center of gravity of newly-generated structure C with the center of gravity of the structure B having printed above not in same perpendicular, as shown in Fig. 8 (f),
Step (6) is as shown in Fig. 8 (g), in the time that needs are printed the 3rd branch structure, 2 back work faces 22 that support first branch road are separated, under the control of three-dimensional motion mechanism, the back work face of making 22 moves to the upper surface sustained height of the structure C of having printed in upper surface and preceding step (5), the work of repeating step (5), print the D part of biological structure, the center of gravity of same newly-generated structure D with the center of gravity of the structure C of having printed above not in same perpendicular, as shown in Fig. 8 (h);
Step (7) as Fig. 8 (i) as shown in, in the time that needs are printed the 4th branch structure, 2 back work faces 22 that support second branch road are separated, under the control of three-dimensional motion mechanism, the back work face of making 22 moves to the upper surface sustained height of the structure D having printed in upper surface and preceding step (6), the work of repeating step (6), print the E part of biological structure, the center of gravity of same newly-generated structure E with the center of gravity of the structure D having printed above not in same perpendicular, as shown in Fig. 8 (j);
Step (8) is deposited the structure of printing a period of time in reaction solution, and rise the bottom surface 23 of then working, and just obtains the three-dimensional biological structure of crankshaft as shown in Figure 8 (a).
Claims (10)
1. the 3D printing equipment of the three-dimensional biological structure of multiple branch circuit, comprise the three-dimensional motion table mechanism of the work bottom surface (23) for supporting three-dimensional biological structure, the shower nozzle (31) that is fixed on top, work bottom surface (23) and the three-dimensional biological structure of cooperation nozzle printing, it is characterized in that, described three-dimensional motion table mechanism comprises and is arranged at least one pair of back work face (22) of work bottom surface (23) top and the three-dimensional motion mechanism that the back work face of driving carries out respectively the three-dimensional motion of x-axis, y-axis and z-axis direction; In described a pair of back work face, two back work faces are oppositely arranged, and are positioned at all the time in same level, and three-dimensional biological structure is supported and helped.
2. the 3D printing equipment of the three-dimensional biological structure of multiple branch circuit according to claim 1, is characterized in that, described three-dimensional motion mechanism comprises: X-axis motion, Y-axis motion and Z axis motion, and described Z axis motion comprises:
Z axis flat board (16), described X-axis motion and Y-axis motion are fixed on this Z axis flat board;
Z axis motor (6), described Z axis motor (6) outfan is Z-axis transmission screw mandrel (9);
The Z axis screw mandrel slide block (10) being threaded with described Z-axis transmission screw mandrel (9), this Z axis screw mandrel slide block (10) is fixedly connected with described Z axis flat board (16) simultaneously;
Be fixed on the Z axis guide rail (12) of the vertical setting of work bottom surface (23) one sides;
And be fixed on Z axis screw mandrel slide block (10) one sides simultaneously and the Z axis guide rail slide block (13) that is slidably matched of described Z axis guide rail (12), guide described Z axis flat board (16) to carry out that z is axial to be moved back and forth.
3. the 3D printing equipment of the three-dimensional biological structure of multiple branch circuit according to claim 2, is characterized in that, described Y-axis motion comprises:
Be fixed on the y-axis motor (30) on Z axis flat board (16), this y-axis motor outfan is Y-axis drive lead screw (27);
The Y-axis screw mandrel slide block (26) being threaded with described Y-axis drive lead screw (27);
Be fixed on the Y-axis guide rail (24) on Z axis flat board (16);
Be fixed on the Y-axis flat board (18) of Y-axis screw mandrel slide block (26) end face, described X-axis motion is fixed on this Y-axis flat board; Described Y-axis flat board (18) bottom surface is fixed with the Y-axis slide block (25) being slidably matched with described Y-axis guide rail (24), guides described Y-axis flat board (18) to carry out that y is axial to be moved back and forth.
4. the 3D printing equipment of the three-dimensional biological structure of multiple branch circuit according to claim 3, is characterized in that, described X-axis motion comprises:
Be fixed on the X-axis motor on Y-axis flat board (18), this X-axis motor output end is X-axis drive lead screw;
The X-axis screw mandrel slide block being threaded with described X-axis drive lead screw;
Be fixed on the X-axis guide rail on Y-axis flat board;
Be fixed on the X-axis flat board of X-axis screw mandrel slide block end face, described back work face is fixed on the dull and stereotyped side of this X-axis; Described X-axis planar bottom surface is fixed with the X-axis slide block being slidably matched with described X-axis guide rail, for guiding described X-axis flat board to carry out that x is axial to be moved back and forth, drives the motion of back work face simultaneously.
5. the 3D printing equipment of the three-dimensional biological structure of multiple branch circuit according to claim 4, is characterized in that, described work bottom surface (23) surrounding is fixed with four perpendicular plates (11); Described three-dimensional motion mechanism is along symmetrically arranged four of work bottom surface, is separately fixed on described perpendicular plate.
6. the 3D printing equipment of the three-dimensional biological structure of multiple branch circuit according to claim 5, it is characterized in that, also comprise Z axis supporting construction, described Z axis supporting construction comprises Z axis column guide rail (2), the cantilever beam (5) being slidably matched with described Z axis column guide rail (2) and the lead screw motor that drives cantilever beam (5) to move back and forth along Z axis column guide rail (2), and at least one perpendicular plate in described cantilever beam (5) other end and described four perpendicular plates (11) interfixes.
7. the 3D printing equipment of the three-dimensional biological structure of multiple branch circuit according to claim 6, is characterized in that, described Z axis column guide rail (2) is provided with gathering sill; Described lead screw motor outfan is provided with column screw mandrel; Described cantilever beam (5) one end is provided with the maneuvering board (3) being slidably matched with gathering sill, is located at the screw coordinating with described column wire rod thread on this maneuvering board.
8. the 3D printing equipment of the three-dimensional biological structure of multiple branch circuit according to claim 6, is characterized in that, described shower nozzle (31), lead screw motor, X-axis motor, y-axis motor (30) and Z axis motor (6) are all controlled by same controller.
9. the 3D printing equipment of the three-dimensional biological structure of multiple branch circuit according to claim 4, is characterized in that, described back work face (22) interfixes by dull and stereotyped perpendicular plate (21) and described X-axis flat board (20) one sides; Described back work face (22) and described dull and stereotyped perpendicular plate (21) are for removably connecting; In described a pair of back work face (22), on two back work faces, be respectively equipped with preformed hole or the reserved breach corresponding with the three-dimensional biological structure of described multiple branch circuit.
10. a 3D Method of printing for the three-dimensional biological structure of multiple branch circuit, is characterized in that, comprising:
(1) according to CT scan device data, the three-dimensional biological structure model of application CAD software design;
(2), by the solid data of the three-dimensional biological structure model of above-mentioned CAD software design, through the processing of delamination software hierarchy slicing, formation respective code is input in the 3D printing equipment of the three-dimensional biological structure of multiple branch circuit described in the arbitrary claim of claim 1～9;
(3) by shower nozzle, biological ink is ejected on work bottom surface, back work face supports and helps three-dimensional biological structure as required under three-dimensional motion mechanism drives, and obtains the three-dimensional biological structure of multiple branch circuit degree of growing tall on work bottom surface.
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