CN104337589B - A kind of biological 3D printing equipment - Google Patents
A kind of biological 3D printing equipment Download PDFInfo
- Publication number
- CN104337589B CN104337589B CN201410585205.0A CN201410585205A CN104337589B CN 104337589 B CN104337589 B CN 104337589B CN 201410585205 A CN201410585205 A CN 201410585205A CN 104337589 B CN104337589 B CN 104337589B
- Authority
- CN
- China
- Prior art keywords
- pipeline
- printing
- main body
- printing equipment
- pipe main
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
Abstract
The present invention relates to and a kind of can apply in vivo, organ-tissue disease damage information search and analysis can be carried out in real time, and carry out the biometric print device of original position printing.Described biological 3D printing equipment includes inside and is provided with the first pipe main body printing pipeline and detection pipeline, and described printing pipeline is arranged side by side with detection pipeline；Described printing pipeline includes 3D printhead and second pipe main body；Print medium cavity and the piston in the activity of print media intracavity it is provided with in described second pipe main body；Described detection pipeline front end is detecting head, and rear end is view data delivery outlet, and described detecting head and view data delivery outlet are connected by data channel；Described printing pipeline and detection pipeline stretch out from the outlet of the first pipe main body front end.Information search and biological 3D print member are sent into human body by the mode of Wicresoft by the present invention, and are connected with external control system thus realizing internal in-situ reparation by the first pipe main body.
Description
Technical field
The invention belongs to field of medical devices, be specifically related to a kind of can apply in vivo, organ-tissue disease damage information search and analysis can be carried out in real time, and carry out the biological 3D printing equipment of original position printing.
Background technology
Due to disease, quite a few patient causes that defect occurs in intracorporeal organ tissue, thus needing to carry out organ transplantation or prosthesis, such as liver disease damage, gastrointestinal fistula etc..Many operations all can bring bigger wound, or repairing effect is unsatisfactory.
3D print (3DPrinting) also referred to as " increase material manufacture (AdditiveManufacturing) " be one based on design data file, by material layer by layer deposition or bind the emerging rapid shaping technique to be configured to three-dimensional body.It is combined with biomedical technology by industry 3D printing technique that biological 3D prints, and with human body cell and biomaterial for printing raw material, carries out the bionical reconstruction of tissue and organ.3D printing technique has incomparable advantage compared to other tissue engineering bracket rapid shaping technique, is embodied in five aspects: first, and the precision building complex organization or organ is high, can really realize assembling and the structure of cell aspect；Second, it may be achieved cell and material organic assembling, 3D prints and according to practical situations such as the different cells in tissue or organ, substrate, can carry out emulation arrangement and combination and one-shot forming；3rd, it is possible to carry out instant, quick, controlled electronic 3-D model according to the practical situation of defective tissue or organ and reproduce.4th, individual character manufacturing complicated tissue organ, cost is controlled；5th, it may be achieved the quick manufacture portable, efficient, energy consumption is low, biomaterial consumption is few.
Development along with industry 3D printing technique, biomedical technology is combined with 3D biometric print, in order to carry out the bionical reconstruction of tissue and organ, developing direction in the future will be become, the biological 3D research printed is concentrated on external by prior art, and the internal report carrying out in-situ immobilization is less, present invention rely on the fact that offer one is easy in human body and is carried out biological 3D printing equipment.
Summary of the invention
For the shortcoming of prior art, the invention provides the combining information of a kind of internal use and collect the biological 3D printing equipment with material/cell printing function.
For solving above-mentioned technical problem, the technical solution used in the present invention is:
The present invention devises the combining information of a kind of internal use and collects the biological 3D printing equipment with material/cell printing function, described 3D printing equipment includes inside and is provided with the first pipe main body printing pipeline and detection pipeline, and described printing pipeline is arranged side by side with detection pipeline；Described printing pipeline includes 3D printhead and second pipe main body；Print medium cavity and the piston in the activity of print media intracavity it is provided with in described second pipe main body；Described detection pipeline front end is detecting head, and rear end is view data delivery outlet, and described detecting head and view data delivery outlet are connected by data channel；Described printing pipeline and detection pipeline stretch out from the outlet of the first pipe main body front end.
Print media is stored in print medium cavity by the present invention, makes print media spray from 3D printhead by the motion of piston, thus realizing printing.The present invention adopts this kind to arrange, and mainly includes following several respects reason: first, and print media viscosity is bigger, carry extremely difficult in printing pipeline, accurately controlling more difficult, the present invention is by the conveying of the motor control print media of piston, print procedure more easy to control；Secondly, adopt the mode of piston, the input of print media will be changed to be inputted by 3D printhead side, can according to different needs, different types of print media is loaded successively by 3D printhead side, make the print media of formation similar " Filter column " hierarchy, it is achieved the print media of heterogeneity sequentially, printing speed, it is achieved accurate treatment；Again, the needs in order to apply, it is possible to add medicine or bioactive substance in print media.Due to some medicines or the less stable of bioactive substance own, the conveying of existing long tube may result in the situation of material degeneration or inactivation.And the mode of the present invention avoids the situation that time-consuming, the expense of long distance delivery are expected, it is possible to be rapidly completed conveyer and beat process, it is ensured that the activity of medicine or bioactive substance, also economize in raw materials.
Preferably, described 3D printhead and the connected mode of second pipe main body are for removably connecting.Adopting this kind that the cleaning being conducive to 3D printhead on the one hand is set, on the other hand, according to the needs of repair tissue, when using different print media, 3D printhead can being changed, it is prevented that the intersection of print media mixes thus affecting print quality.
On the other hand, removably connecting of 3D printhead is also convenient for the fill of print media.
Preferably, described second pipe main body inner wall is provided with guide rail, and described piston is movable along this guide rail.Guide rail the effect that the activity of piston can be played location is set.The quantity of guide rail can be one or more, and accordingly, piston is provided with the extension coordinated with guide rail, and when piston is placed in second pipe main body, described extension is contained in guide rail, it is achieved location.As a kind of embodiment, described extension can be other suitable parts such as the roller that can slide in guide rail or guide rail slide block.
Preferably, described biological 3D printing equipment also includes the power transmission movable for controlling piston.It is further preferred that described power transmission is fluid-pressure transmission device or pneumatic shuttle.Piston press is promoted to be arranged in the print media of print medium cavity by power transmission, thus realizing the successful extrusion of print media.
Preferably, on the sidewall of described first pipe main body front end, it is provided with opening, makes printing pipeline can pass through this opening.Being provided with opening on sidewall and make when 3D printing equipment arrives in-vivo tissue repair place, printing pipeline can stretch out from the sidewall of the first pipe main body, and this can be avoided when carrying out internal in-situ and printing, and detection pipeline is caused and blocks by printing pipeline；Comparing and stretch out from front end, the angle of the operable printing stretched out from sidewall and scope are bigger, can easily reach the position being extremely difficult to from front end.
As a kind of preferred version, described 3D printing equipment also includes guide wire, and described guide wire is arranged in the first pipe main body.Described guide wire is used for guiding 3D printing equipment to enter patient's tissue site to be repaired, after 3D printing equipment puts in place, can remove guide wire and carry out original position printing reparation again.It is further preferred that described guide wire front end is provided with blunt portion, its rear end is provided with holding part, and the length of described guide wire is more than or equal to the length of the first pipe main body.
As another kind of preferred version, being additionally provided with interlayer in described first pipe main body, described interlayer will print pipeline and detection pipeline isolation.Adopt this set to make the printing pipeline being arranged in the first pipe main body be independent of one another and impregnable mutually with detection pipeline, print pipeline and can carry out according to the situation of human body tissue to be repaired that detection pipeline detects large range of positioning voluntarily.
Preferably, the external diameter of described first pipe main body is 4～10mm, and length is 145～175mm；Described detection outer diameter tube is 2～5mm, and described printing outer diameter tube is 1～5mm, and internal diameter is 0.1～2mm；The external diameter of further preferably described first pipe main body is 6mm, and its main body is made up of elastomeric material, more soft, can alleviate the misery of patient when importing human body；Described detection outer diameter tube is 2～5mm, more preferably 3mm；Described printing outer diameter tube is 1～5mm, and exit inside diameter is 0.1～2mm, and further preferably described printing outer diameter tube is 3mm, and described internal diameter is 1mm.
The outside of described 3D printing equipment is additionally provided with Information Collection System, print system and control system；Described Information Collection System is provided with display, and the detecting head of described detection pipeline front end is connected with described display；Described control system is used for controlling print system and realizes printing reparation.
Preferably, described biological 3D printing equipment is generally also equipped with illuminator.Preferably, the front end of the first pipe main body is located at by described illuminator.
Preferably, described illuminator is LED, arranges illuminator and can provide illumination by the detecting head for detecting pipeline, enables detecting head to become apparent from obtaining exactly data and image, practical, and adopts LED energy-saving convenient.In order to be able to clearly illustrate the image that detecting head is observed and shot, can arranging dedicated display, described detecting head is connected with display by USB connecting line；Dedicated display is the LCDs of 3.5 cun, its built-in rechargeable lithium battary and storage card, it is possible to the impact of the tissue that clear display detecting head detects, it is also possible to detecting head is connected to the smart machine such as notebook computer or panel computer；In order to enable to collect and calculate the patient part tissue defect data that detecting head detects exactly, can configuration information collection processing system implementing and control system, in described information management system, data processing software and computer terminal are installed, utilize described data processing software and computer terminal that obtained data are processed, then compare with normal structure data base and model；Controlling print system finally by control system makes printing pipeline carry out patient part tissue printing repairing.
Preferably, described detecting head is preferably fiber detector or ccd image sensor, and its data channel is preferably optical fiber or data connecting line.
In order to avoid cross infection, described 3D printing equipment also includes disposable protection set, and during use, described disposable protection set is sheathed on outside detection pipeline.Preferably, this disposable protection set is polyurethane (Polyurethane) sheath, adopts this novel high-molecular organic material; it is not easy breed bacteria; and quality is soft, high resilience, has good pliability, also alleviates misery when intubating, patient caused to a certain extent.
For different clinical purposes, print media can also be mixed with water-soluable gel, ingredient, cytokine or autologous patient cell.
Preferably, the macromolecular material in described water-soluable gel includes chitosan and/or hyaluronic acid etc..Described ingredient includes antiinflammatory, sterilization and/or paroxysmal pain medicine etc..Described cytokine includes VEGF (VEGF) and/or basic fibroblast growth factor (bFGF) etc..Described autogenous cell includes endotheliocyte, smooth muscle cell and/or fibroblast etc..
The printing pipeline of the present invention, it is possible to make print media realize in-situ solidifying molding in vivo, including the method using chemical crosslinking or physical crosslinking.The former includes using cross-linking agent or the alginate of photo-initiated crosslinking, fumaric acid and derivant thereof and the copolymer of ethylene glycol, polyethylene glycol acrylate derivant etc., the latter includes Thermo-sensitive or molecular self-assembling forms the naturally occurring or synthetic polymer cross-linked, such as methylcellulose, PNIPAM copolymer, modified cyclodextrin etc..
The 3D printing equipment volume of the present invention is little, can enter the inside and outsides such as human body esophagus, intestinal, vagina and run through tract, it is possible to be entered by Minimally Invasive Surgery internal such as the position such as abdominal part, pelvic cavity.This device includes detection pipeline and prints pipeline, and the former can pass through to take the photograph the impaired places of method detection bodies inner tissue such as phase, infrared induction, supersonic sounding, and the latter can carry out printing according to practical situation repairing in position.This printing equipment can print natural/synthetic material, cell or both complexs.The present invention is capable of internal in-situ treatment, reaches Wicresoft, accurate, minimizing foreign object entrance human body, personalized therapeutic effect.
Compared with prior art, the invention has the beneficial effects as follows:
A kind of 3D printing equipment provided by the invention, it is based on the first pipe main body, and internal interpolation prints pipeline, prints for internal in-situ；Information search and biological 3D are printed pipeline and send into human body by the mode of Wicresoft by the present invention, and are connected with external control system by the first pipe main body, it is achieved internal in-situ reparation；Detection pipeline is disposed side by side in the first pipe main body with printing pipeline by this device, utilize the detecting head arranged on detection pipeline that patient's patient part is positioned and data acquisition, this detection pipeline accurate positioning, the time of inserting is short, alleviates and intubates the misery that patient is caused；Meanwhile, the 3D printing equipment of the present invention is that tissue repair provides a kind of new therapeutic modality in the patient.
Accompanying drawing explanation
Fig. 1 is the structural representation of 3D printing equipment of the present invention；
Fig. 2 is Section A-A view in Fig. 1；
Fig. 3 is the 3D printing equipment overall structure schematic diagram for clinical treatment；
Fig. 4 is the enlarged diagram of 3D printing equipment the first pipe main body front end in embodiment 1；
When Fig. 5 is that in embodiment 1,3D printing equipment arrives tissue repair place, carries out original position and print the enlarged diagram repaired；
Fig. 6 is the side enlarged diagram that in embodiment 1,3D printing equipment prints pipeline；
The left figure of Fig. 7 is that right figure is the printing pipeline structural representation in Fig. 1 along Section A-A along the piston structure schematic diagram printing pipeline Section A-A in Fig. 1；
Fig. 8 is the enlarged diagram of 3D printing equipment the first pipe main body front end in embodiment 2；
When Fig. 9 is that in embodiment 2,3D printing equipment arrives tissue repair place, carries out original position and print the enlarged diagram repaired.
Detailed description of the invention
Below in conjunction with detailed description of the invention, the present invention is further illustrated.
Embodiment 1 treats duodenal ulcer
The embodiment of biology 3D printing equipment of the present invention as shown in Figure 1 to Figure 7 shows the, described 3D printing equipment includes inside and is provided with the first pipe main body 10 printing pipeline 20 and detection pipeline 30, and described printing pipeline 20 and detection pipeline 30 are arranged side by side；The critical piece of described printing pipeline 20 includes 3D printhead 201 and second pipe main body, is provided with print medium cavity 202 and the piston 203 in the activity of print media intracavity in described second pipe main body；Described detection pipeline 30 front end is detecting head 301, and rear end is view data delivery outlet 302, and described detecting head 301 and view data delivery outlet 302 are connected by data channel, and described first pipe main body 10 front end is provided with illuminator 40；Described printing pipeline 20 and detection pipeline 30 stretch out from the outlet of the first pipe main body 10 front end.
Fig. 6 is the enlarged diagram printing pipeline 20 of the 3D printing equipment in the present embodiment, as shown in Figure 6, stores print media in print medium cavity 202, and print medium cavity 202 one end connects with 3D printhead 201, and the other end connects with piston 203；Described piston 203 and power transmission (not shown in Fig. 5) are connected, and this power transmission can be fluid-pressure transmission device or pneumatic shuttle.As shown in Figure 6, it is provided with guide rail 200 inside described printing pipeline 20, described piston 203 is provided with the extension 204 suitable with guide rail 200, in the present embodiment, described extension 204 is set to roller, under the promotion of power transmission, the roller on piston 203 is printing relative sliding in the guide rail that pipeline 20 inwall is arranged, thus promoting the print media being stored in print medium cavity 202 to extrude from 3D printhead 201.In the present embodiment, described 3D printhead and the connected mode of second pipe main body are for removably connecting.
The present embodiment adopts above-mentioned setting, is stored in by print media in the print medium cavity 202 printing pipeline 20, makes gas or liquid push piston 203 by hydraulic pressure or pneumatic shuttle and moves, and makes print media spray realization from 3D printhead and prints；
Additionally, in the present embodiment, 3D printhead 201 is removably attachable to print on pipeline 20, now 3D printhead 201 is removable, so can change 3D printhead 201 according to the difference of print media when tissue is repaired, thus preventing the intersection of print media from mixing thus affecting print quality.
Practical situation according to tissue to be repaired, printing pipeline 20 can also stretch out from the front end of the first pipe main body 10.In this embodiment, described illuminator adopts LED as light source, and LED can provide illumination by the detecting head for detecting pipeline, enables detecting head to become apparent from obtaining exactly data and image, practical, and adopts LED energy-saving convenient.
As shown in Figure 3, when the biological 3D printing equipment of the present embodiment is for clinical treatment, in order to enable to collect and calculate the patient part tissue defect data that detecting head detects exactly, system, print system and control system can be collected in the outside configuration information of this biology 3D printing equipment；Information Collection System can arrange dedicated display, and described detecting head is connected with display by USB connecting line；Detecting head can also be connected to the smart machine such as notebook computer or panel computer；It is also equipped with data processing software and computer terminal in described information management system, utilizes described data processing software and computer terminal that obtained data are processed, then compare with the data base of normal structure and model；Controlling print system finally by control system makes printing pipeline carry out patient part tissue printing repairing.
The first pipe main body 10 external diameter in the present embodiment is 6mm, and described first pipe main body 10 main body is made up of silica gel material, more soft, can alleviate the misery of patient when importing human body；Detection pipeline 30 external diameter is 3mm；Printing pipeline 20 external diameter is 3mm, and internal diameter is 1mm.Disposable polyurethane sheath it is additionally provided with outside the detection pipeline 30 of 3D printing equipment, adopt this novel high-molecular organic material, it is not easy breed bacteria, it is prevented effectively from cross infection, and quality is soft, high resilience, there is good pliability, misery when intubating, patient caused can be alleviated.
As shown in Figure 4, when carrying out clinical treatment, patient locally or systemically anaesthetizes, and is entered in human body from oral cavity by biology 3D printing equipment, is accurately arrived patient part by real-time monitored.Utilize the detection pipeline 30 on biological 3D printing equipment to collect defect information, feed back to computer and carry out data process.Defect part 3D modeling is carried out after normal tissue data base at ratio.In this embodiment, 3D printing equipment also includes the guide wire of rustless steel or macromolecular material, and described guide wire front end is provided with blunt portion, and its rear end is provided with holding part, and the length of described guide wire is more than or equal to the duct length of pipeline.In the stage by 3D printing equipment importing human body, described guide wire is arranged in printing pipeline, to guide printing pipeline to enter patient's tissue site to be repaired, after device to be printed puts in place, can remove guide wire and carry out original position printing reparation again.In this embodiment, described detecting head is fiber detector, and its data channel is optical fiber or data connecting line.Detecting head it will be observed that information feed back in time, it is achieved real-time judge.
As it is shown in figure 5, select suitable print media according to defective tissue practical situation after determining sufferer information, namely include the gel of the compositions such as cell (such as epidermis cell, smooth muscle cell), somatomedin, medicine.Then printing pipeline is extend into tissue repair place, be placed on defect by adjusting the position printing pipeline 20 in real time, gel is printed upon defect.After treatment terminates, take out printing equipment.Postoperative patient can be left hospital the same day.
Embodiment 2 treats duodenum perforation
Fig. 8, Fig. 9 are the another embodiment of the biological 3D printing equipment of the present embodiment.As different from Example 1, printing in pipeline 20 and do not arrange guide wire, but be provided with interlayer 50 in the first pipe main body 10 in the present embodiment, printing pipeline 20 is kept apart by described interlayer 50 with detection pipeline 30.Printing pipeline 20 in the present embodiment is independent of one another and impregnable mutually with detection pipeline 30, print pipeline 20 to carry out according to the situation of human body tissue to be repaired that detection pipeline 30 detects large range of positioning voluntarily, it is to say, there is bigger degree of freedom owing to the setting of interlayer 50 makes to print pipeline 20.Other structure in the present embodiment is with embodiment 1.
3D printing equipment provided by the invention, based on the first pipe main body, adds printing equipment, prints for internal in-situ in inside；Information search and biological 3D are printed pipeline and send into human body by the mode of Wicresoft by the present invention, and are connected with external control system by the first pipe main body, it is achieved internal in-situ reparation；Detection pipeline is disposed side by side in the first pipe main body with printing pipeline by this device, utilize the detecting head arranged on detection pipeline that the patient part of patient is positioned and data acquisition, this detection pipeline accurate positioning, the time of inserting is short, alleviates and intubates the misery that patient is caused；Meanwhile, the 3D printing equipment of the present invention is that tissue repair provides a kind of new therapeutic modality in the patient.
Claims (10)
1. a biological 3D printing equipment, it is characterised in that described 3D printing equipment includes inside and is provided with the first pipe main body printing pipeline and detection pipeline, and described printing pipeline is arranged side by side with detection pipeline；Described printing pipeline includes 3D printhead and second pipe main body；Print medium cavity and the piston in the activity of print media intracavity it is provided with in described second pipe main body；Described detection pipeline front end is detecting head, and rear end is view data delivery outlet, and described detecting head and view data delivery outlet are connected by data channel；Described printing pipeline and detection pipeline stretch out from the outlet of the first pipe main body front end；Described biological 3D printing equipment is additionally provided with illuminator.
2. biological 3D printing equipment according to claim 1, it is characterised in that the connected mode of described 3D printhead and second pipe main body is for removably connecting.
3. biological 3D printing equipment according to claim 1, it is characterised in that described second pipe main body inner wall is provided with guide rail, and described piston is movable along described guide rail.
4. biological 3D printing equipment according to claim 1, it is characterised in that described biological 3D printing equipment also includes the power transmission movable for controlling piston.
5. biological 3D printing equipment according to claim 4, it is characterised in that described power transmission is fluid-pressure transmission device or pneumatic shuttle.
6. biological 3D printing equipment according to claim 1, it is characterised in that be provided with opening on the sidewall of described first pipe main body front end, make printing pipeline can pass through described opening.
7. the biological 3D printing equipment according to claim 1 to 6 any claim, it is characterised in that described 3D printing equipment also includes guide wire, and described guide wire is arranged in the first pipe main body.
8. biological 3D printing equipment according to claim 7, it is characterised in that described guide wire front end is provided with blunt portion, and its rear end is provided with holding part, and the length of described guide wire is more than or equal to the length of the first pipe main body.
9. the biological 3D printing equipment according to claim 1 to 6 any claim, it is characterised in that be additionally provided with interlayer in described first pipe main body, described interlayer will print pipeline and detection pipeline isolation.
10. the biological 3D printing equipment according to claim 1 to 6 any claim, it is characterised in that the outside of described 3D printing equipment is additionally provided with Information Collection System, print system and control system；Described Information Collection System is provided with display, and the detecting head of described detection pipeline front end is connected with described display；Described control system is used for controlling print system and realizes printing reparation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410585205.0A CN104337589B (en) | 2014-10-28 | 2014-10-28 | A kind of biological 3D printing equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410585205.0A CN104337589B (en) | 2014-10-28 | 2014-10-28 | A kind of biological 3D printing equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104337589A CN104337589A (en) | 2015-02-11 |
| CN104337589B true CN104337589B (en) | 2016-06-29 |
Family
ID=52494598
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410585205.0A Withdrawn - After Issue CN104337589B (en) | 2014-10-28 | 2014-10-28 | A kind of biological 3D printing equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104337589B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3332297B1 (en) * | 2015-12-22 | 2019-07-10 | Hewlett-Packard Development Company, L.P. | Print data generation systems |
| US11168295B2 (en) * | 2016-10-07 | 2021-11-09 | The Governing Council Of The University Of Toronto | Tissue printer |
| US11372392B2 (en) | 2020-09-18 | 2022-06-28 | International Business Machines Corporation | System and method of printing 3D biostructures |
| CN113696476B (en) * | 2021-08-19 | 2022-08-02 | 清华大学 | Double-freedom-degree rotating mechanism and in-vivo in-situ biological printing device |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7027887B2 (en) * | 2002-07-03 | 2006-04-11 | Theries, Llc | Apparatus, systems and methods for use in three-dimensional printing |
| CA2689675A1 (en) * | 2007-02-07 | 2008-08-14 | Mcgill University | Bioceramic implants having bioactive substance |
| CN201395599Y (en) * | 2009-05-22 | 2010-02-03 | 广州迈普再生医学科技有限公司 | Bioreactor and biological printing system |
| CN101964155A (en) * | 2010-09-16 | 2011-02-02 | 南方医科大学 | Method for manufacturing anthropotomy cast specimen model |
| TWI481394B (en) * | 2012-03-08 | 2015-04-21 | Microjet Technology Co Ltd | Biomedical 3d?rapid prototyping apparatus |
| GB2504679A (en) * | 2012-08-03 | 2014-02-12 | Nobel Biocare Services Ag | Bone substitute structure and material |
| CN102908207B (en) * | 2012-10-30 | 2015-04-22 | 南通大学 | Tissue engineering nerve graft prepared by biological printing technology and preparation method thereof |
| CN103750918B (en) * | 2014-01-17 | 2015-09-02 | 清华大学深圳研究生院 | A kind of three-dimensional cell printing equipment |
| CN203829093U (en) * | 2014-04-18 | 2014-09-17 | 清华大学 | Three-dimensional print forming device for tough tissue structures |
| CN204092271U (en) * | 2014-10-28 | 2015-01-14 | 深圳迈普再生医学科技有限公司 | A kind of biological 3D printing equipment |
-
2014
- 2014-10-28 CN CN201410585205.0A patent/CN104337589B/en not_active Withdrawn - After Issue
Also Published As
| Publication number | Publication date |
|---|---|
| CN104337589A (en) | 2015-02-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204092271U (en) | A kind of biological 3D printing equipment | |
| Ma et al. | Application of robotic-assisted in situ 3D printing in cartilage regeneration with HAMA hydrogel: An in vivo study | |
| CN104337589B (en) | A kind of biological 3D printing equipment | |
| CN206194241U (en) | Aorta wicresoft intervenes operation analogue means | |
| CN105751510A (en) | Biological 3D printing apparatus | |
| CN104902953A (en) | Precision directed medical instruments | |
| CN102892456A (en) | Resector balloon system | |
| WO2015158027A1 (en) | Tough tissue structure, and 3d printing forming device and method thereof | |
| CN102133096A (en) | Treatment instrument for intracranial pressure monitoring and drainage and replacement of cerebrospinal fluid | |
| MacAdam et al. | Development of in situ bioprinting: A mini review | |
| CN106859766B (en) | Navigation system for being resetted in shaft fracture marrow | |
| Zhao et al. | In vivo bioprinting: Broadening the therapeutic horizon for tissue injuries | |
| CN206252726U (en) | A kind of obstetrics and gynecology department multifunctional disinfecting device | |
| CN112316287A (en) | Accurate intelligent medicine feeding device for department of stomatology | |
| Wang et al. | Robotic in situ bioprinting for cartilage tissue engineering | |
| CN202288229U (en) | Visual conduit and multi-purpose portable visual urethreurynter | |
| Bharadwaj et al. | Open source bioprinters: Revolutionizing the accessibility of biofabrication | |
| CN103948405A (en) | Full-automatic conveyer for neuro-interventional therapy instrument | |
| CN101897636B (en) | Intraperitoneal hyperthermic perfusion chemotherapy instrument in operation | |
| CN104783897B (en) | Bundled multi-arm intelligent surgical operation auxiliary device | |
| CN210574406U (en) | Diagnosis and treatment device capable of simulating human body pharyngeal reflex | |
| Tianyuan et al. | A novel handheld device: application to in situ bioprinting compound dressing for the treatment of wound | |
| CN206183381U (en) | Multiple radiography vagina tag of pelvis | |
| CN101371773A (en) | Endoscope with device for monitoring inserting force | |
| CN211460133U (en) | Novel clinical inspection of department of general surgery device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160629 Effective date of abandoning: 20180518 |
|
| AV01 | Patent right actively abandoned |