CN110101448B - Photocuring hydrogel conveying device for minimally invasive surgery and in-situ printing method - Google Patents
Photocuring hydrogel conveying device for minimally invasive surgery and in-situ printing method Download PDFInfo
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- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
- A61B17/8802—Equipment for handling bone cement or other fluid fillers
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Abstract
The invention discloses a photocuring hydrogel conveying device for minimally invasive surgery and an in-situ printing method. The coaxial sprayer is arranged in the shell, the outlet of the coaxial sprayer is positioned outside, the posture is adjusted through the transmission transformation of the internal bevel gear set, the rotation of the handle around the Y axis is converted into the rotation of the coaxial sprayer around the X axis, and the rotation range of the coaxial sprayer is 0-180 degrees; the gesture is indicated through the scale marks at the external handle, the rotating angle of the handle is indicated by the outer ring, and the rotating angle of the coaxial spray head at the tail end is indicated by the inner ring. The coaxial spray head is in a circular tube shape, the outlet of the coaxial spray head is positioned on the longitudinal axis of the circular tube, the coaxial spray head part adopts an embedded curing light source, the outer ring of the coaxial spray head has the functions of material outlet and shading, and the illuminating light sources are uniformly distributed around the coaxial spray head; and a segmented curing strategy of 'continuous illumination and interval feeding' is adopted, so that the uniform curing of the material is ensured, and the efficiency is improved.
Description
Technical Field
The invention belongs to the field of light-cured material forming and surgical instruments, and particularly relates to a light-cured hydrogel conveying device for minimally invasive surgery and an in-situ printing method.
Background
Cartilage defects caused by articular cartilage lesions or trauma are very common, and at present, microfracture surgery is a rapid and effective treatment method for knee joint cartilage repair. Generally, a surgeon, with the aid of an arthroscope, cleans and drills a cartilage lesion or defect in a bone to form a repair tissue by two methods. Firstly, bone marrow mesenchymal stem cells and blood are coagulated at an opening by virtue of the self-healing capacity of a patient to slowly form a repair tissue; secondly, by means of tissue engineering technology, the healing process is accelerated by directly injecting biological materials containing growth factors into the open cavity or implanting tissue engineering scaffolds to construct an environment beneficial to the growth of stem cells, and the repair quality is improved.
The light-cured hydrogel material is widely applied to cartilage tissue engineering. Because the material needs to be formed by illumination, the large wound is completely exposed to the light source for curing after the light curing material is injected into the hole at one time in the operation. The one-time injection centralized curing method has the problem of uneven curing; and one-time injection molding can only meet the use requirement of a single material; for narrow parts and joints which are inconvenient to move, the light-cured material is difficult to deliver to the defect parts; the long-time exposure of the wound during illumination is easy to increase the risk of wound infection; the use of a plurality of auxiliary instruments increases the operation difficulty of personnel and easily causes cross contamination.
Disclosure of Invention
The invention aims to overcome the defects and provides a photocuring hydrogel conveying device for minimally invasive surgery and an in-situ printing method, wherein the photocuring hydrogel conveying device is compact in structure and simple and convenient to operate.
In order to achieve the purpose, the invention is realized by adopting the following technical scheme:
a light-cured hydrogel conveying device for minimally invasive surgery comprises a shell, a rotary reversing structure and a coaxial nozzle, wherein the rotary reversing structure and the coaxial nozzle are installed inside the shell; wherein the content of the first and second substances,
one end of the rotary reversing structure extends out of the shell, the other end of the rotary reversing structure is connected with one end of the coaxial nozzle through the bevel gear set and used for adjusting the rotation angle of the coaxial nozzle, and the other end of the coaxial nozzle is provided with an outlet and extends out of the shell;
the coaxial nozzle is T type form, including coaxial shower nozzle inner circle and the coaxial shower nozzle outer lane that from interior to exterior set up with the axle center, the coaxial shower nozzle inner circle is the hose, and can be in coaxial shower nozzle outer lane relative movement, the exit of coaxial shower nozzle inner circle is provided with embedded solidification light source, the coaxial shower nozzle outer lane is the step shaft, its terminal surface week that is close to the exit end upwards is provided with a plurality of lighting source, the other end week that the exit end was kept away from to the coaxial shower nozzle outer lane upwards is 180 and is provided with the feed inlet respectively and is used for organizing the outer bevel gear that meshes with.
The invention is further improved in that a camera is arranged outside the feed inlet of the coaxial spray head in the direction towards the outlet.
The invention has the further improvement that the shell is in an L shape, the inner wall of the shell is provided with a continuous spherical groove and an internal positioning ring, a material channel communicated with the coaxial nozzle feed inlet and a line channel for wiring are arranged in the shell along the axial direction, the inlet of the material channel and the inlet of the line channel both extend out of the shell, and the shell is also internally provided with a coaxial nozzle support shaft for supporting the coaxial nozzle and a sealing rubber sleeve for sealing the coaxial nozzle.
The invention is further improved in that the bottom of the shell is also provided with a triangular support frame.
The invention has the further improvement that the rotary reversing structure comprises a handle and a lower adjusting block which are coaxially connected together, the lower adjusting block is provided with a plurality of ball spring plungers matched with the continuous spherical grooves and a cylindrical outer fixing frame matched with the inner positioning ring in the circumferential direction of the joint of the lower adjusting block and the handle, the bevel gear group is arranged at the other end of the lower adjusting block, and the other end of the handle extends out of the shell.
The invention is further improved in that the other end of the handle is also provided with a handle corner pointer, and a handle corner dial matched with the handle corner pointer is arranged on the shell.
The invention is further improved in that the posture is adjusted through transmission transformation of the internal bevel gear set during manual operation, the posture is used for converting rotation of the handle around the Y axis into rotation of the coaxial nozzle around the X axis, and the rotation range of the coaxial nozzle is 0-180 degrees.
An in-situ printing method for minimally invasive surgery, which is based on the photocuring hydrogel conveying device for minimally invasive surgery, comprises the following steps:
1) the inner ring of the coaxial nozzle feed port is a hose, and the outer ring of the coaxial nozzle is a light-cured hydrogel channel;
2) when the method is started, the inner ring of the coaxial spray nozzle reaches the bottom of the area to be repaired firstly, the outer ring of the coaxial spray nozzle is introduced with the photocured hydrogel and enters the area to be repaired from the outlet of the coaxial spray nozzle, the photocured hydrogel curing light source is started, the photocured hydrogel is fed at intervals, and the light source continuously irradiates to achieve the purpose of uniform curing; at the moment, the periphery of the light-cured hydrogel is in contact with the inner wall of the area to be repaired, and a cavity formed by the light-cured hydrogel and the inner ring of the coaxial nozzle is formed in the light-cured hydrogel;
3) after the light-cured hydrogel is filled and cured, stopping feeding of the light-cured hydrogel, turning off a curing light source, and continuously conveying growth factors, medicines or cell suspension substances into the cavity in the cured light-cured hydrogel through the inner ring of the coaxial nozzle;
4) and then, the inner ring of the coaxial nozzle is drawn out from the cavity in the light-cured hydrogel, the outer ring of the coaxial nozzle continues to supply the light-cured hydrogel, the light source is turned on again, a layer of water-based glue is packaged at the upper part to keep the substances in the inner cavity and prevent the substances from flowing out, and at the moment, the printing is finished.
The invention has the following beneficial technical effects:
according to the light-cured hydrogel conveying device for minimally invasive surgery, the rotary reversing structure and the coaxial nozzle are integrated in the shell of the device, the internal space is fully utilized, the structure is compact, the outer part is in a circular tube shape, the tail end is closed, and the wound area of various instruments needing to be cut before is reduced. The joint internal image acquisition function, the illumination function and the hydrogel material conveying and curing function are integrated, so that large open wounds are avoided, and the cross infection risk of using various instruments is reduced. The design of a symmetrical structure and a round rod-shaped structure is adopted, and the manufacturing process is simple and convenient. Meanwhile, the coaxial spray head is arranged on the shell, and the rotation around the axis of the shell is conveniently converted into the rotation in the direction vertical to the axis through a transmission reversing mechanism consisting of bevel gears.
Furthermore, the rotating angle can be conveniently indicated through the scale marks on the surface of the shell handle and the scale needle of the upper adjusting block, and the coaxial sprayer can be used for accurately adjusting the posture of the coaxial sprayer.
Furthermore, the design of the inclined plane at the tail end of the ball head spring plunger in the rotary reversing structure and the design of the continuous spherical groove are ingenious, and the longitudinal displacement of the adjusting block is converted into the transverse movement of the ball head spring plunger. The fixed position can be kept by the contact pressure of the spring and the inner wall of the shell in the positioning state; the ball spring plunger retracts under the reversing state, and freely rotates by virtue of the circular outer contour, so that the posture is conveniently adjusted.
Furthermore, the coaxial nozzle part is connected with the tail end of the material conveying channel by a circuit channel in the shell, and the coaxial nozzle can freely rotate around the mounting shaft by the round tube type design and the bevel gear set. The coaxial spray head can flexibly rotate, adapts to the complex space structure of the part to be repaired, and is beneficial to the material to reach the part to be repaired.
Furthermore, the outlet of the coaxial nozzle is provided with a shading circular tube which is slightly longer than the coaxial nozzle, so that the light-cured material is prevented from being influenced by the illumination light source, the ultraviolet curing light leakage can be prevented, and the curing performance of the material is ensured.
Furthermore, the embedded light sources of the coaxial spray heads are radially arranged along the coaxial spray heads, so that the light radiation received by the light curing material is more stable and uniform. After the material is conveyed to the filling part, continuous illumination or interval illumination can be selected through the controller, so that the uniform photocuring degree is facilitated, and the phenomena of overlong concentrated illumination time, over-hard surface layer and insufficient bottom layer curing in one-time injection are avoided.
The in-situ printing method for minimally invasive surgery aims at osteoblasts and other cells needing hard growth environment, if the existing method is adopted to embed the cells into a photosensitive material, the material is cured after strong illumination, although the requirement on hardness is met, the strong curing illumination can cause great damage to the cells. By adopting the device and the method provided by the invention, the hard tissue scaffold is formed by using strong light, and then the cell suspension, the growth factors, the drugs and the like are injected into the reserved cavity, so that the cell growth requirement is met, and the damage of strong illumination to the cells is avoided.
In conclusion, the photocuring hydrogel conveying device for minimally invasive surgery and the in-situ printing method provided by the invention have the advantages of compact structure, simplicity and convenience in operation, improvement on stability, efficiency and applicability of in-vivo molding of photocuring materials, reduction in risk of surgical infection, low manufacturing and using cost and great practical value.
Drawings
FIG. 1 is a general schematic view of a light-cured hydrogel delivery device for minimally invasive surgery in accordance with the present invention;
FIG. 2 is a cross-sectional view of a portion of a housing of a light-curable hydrogel delivery device for minimally invasive surgery in accordance with the present invention;
FIG. 3 is an isometric view of a rotating reversing portion of a light-cured hydrogel delivery device for minimally invasive surgery in accordance with the present invention;
FIG. 4 is a rotary reversing portion of a light-cured hydrogel delivery device for minimally invasive surgery in accordance with the present invention;
FIG. 5 is a partial isometric and partial view of a coaxial nozzle head of a light-cured hydrogel delivery device for minimally invasive surgery in accordance with the present invention;
figure 6 is a schematic representation of the use of a light-cured hydrogel delivery device for minimally invasive surgery in accordance with the present invention.
Description of reference numerals:
1 is a shell, 2 is a rotary reversing structure, 3 is a coaxial nozzle, and 4 is an area to be repaired;
11 is a handle corner dial; 12 is a continuous spherical groove; 13 is an internal positioning ring; 14 is a material channel (corresponding to the left side being a line channel); 15 is a coaxial nozzle supporting shaft (also a material passage outlet); 16 is a sealing rubber sleeve; 17 is a triangular support frame;
21 is a handle corner pointer; 22 is a handle; 23 is a cylindrical external fixing frame; 24 is a ball spring plunger; 25 is a down-regulating block; 26 is a bevel gear set;
30 is an embedded curing light source; 31 is a coaxial nozzle inner ring; 32 is a coaxial nozzle outer ring (shading circular tube); 33 is an illumination light source; 34 is a camera; and 35 is a bevel gear.
Detailed Description
The invention is further explained below with reference to the figures and examples.
As shown in fig. 1, the light-cured hydrogel delivery device for minimally invasive surgery provided by the invention adopts an integrated design, and integrates a camera 34 for acquiring an image of a tissue to be repaired, a coaxial nozzle 3 and a material channel 14 in a shell 1, so that the space is saved; secondly, the rotation of the handle 22 around the Y axis can be converted into the rotation of the coaxial nozzle 3 around the X axis by rotating the handle 22 through the transmission of the internal bevel gear set 26, the rotation range of the coaxial nozzle 3 is 0-180 degrees, and the adaptability of the complex space structure of the area to be repaired 4 is greatly improved; the posture can be fixed through the ball spring plunger 24 and the cylindrical external fixing frame 23, and is indicated through the scale marks at the external handle 22; and finally, a shading circular tube 32 is arranged at the outlet of the coaxial nozzle 3 to ensure the curing performance of the material. By adopting a non-centralized injection one-time curing strategy and using a segmented curing method of continuous illumination and interval feeding, the adverse effect of the attenuation effect of illumination along with the depth is reduced, the uniform curing of the material is ensured, and the efficiency is improved.
Specifically, the coaxial nozzle 3 is installed inside the shell 1, an outlet of the coaxial nozzle 3 is located outside, the posture is adjusted through transmission transformation of the internal bevel gear set 26 during manual operation, rotation of the handle 22 around the Y axis is converted into rotation of the coaxial nozzle 3 around the X axis, and the rotation range of the coaxial nozzle 3 is 0-180 degrees; coaxial shower nozzle 3 is the pipe type, and coaxial shower nozzle 3 export is located the pipe longitudinal axis, and evenly distributed illumination light source makes things convenient for camera 34 to catch clear image all around, and embedded curing light source 30 is used for solidifying the photocuring aquogel that comes through the circulation of inside material conveying pipeline. The posture can be fixed through a ball spring plunger 24 and a cylindrical external fixing frame 23; the attitude is indicated by the scale marks at the outer handle 22, the outer ring indicates the angle of rotation of the handle, and the inner ring indicates the angle of rotation of the coaxial nozzle at the end. The coaxial spray head is of a circular tube type, the outlet of the coaxial spray head is positioned on the longitudinal axis of the circular tube, the coaxial spray head 3 adopts an embedded curing light source 30 and can be formed by connecting lighting fibers or LED ultraviolet lamp beads in series into a strip-shaped curing light source. The coaxial nozzle outer ring 32 has the functions of material outlet and shading, and the illumination light sources 33 are uniformly distributed around the coaxial nozzle 3. One end of the coaxial nozzle 3 is used for mounting a camera 34, and the other end is provided with a bevel gear 35; and a segmented curing strategy of 'continuous illumination and interval feeding' is adopted, so that the uniform curing of the material is ensured, and the efficiency is improved. The housing 1 includes a handle angle dial 11, a triangular support 17, a wire channel, a material channel 14, and an internal retaining ring 13. The housing 1 has a wire passage, a material passage 14 and an inner retainer 13. The tail ends of the line channel and the material channel 14 close to the coaxial nozzle 3 are cylindrical and are consistent with the two ends of the coaxial nozzle 3, and the function of supporting the coaxial nozzle 3 to rotate is achieved. The material channel 14 is internally of a coaxial hollow circular tube structure, and the inner cavity is coated with a hydrophobic anti-sticking coating, so that high-viscosity materials can be conveyed easily. One end of the coaxial nozzle supporting shaft is connected with the coaxial nozzle supporting shaft 15, and the other end of the coaxial nozzle supporting shaft extends out of the coaxial nozzle supporting shaft and is connected with a feeding controller through a luer.
The end of the housing 1 is sealed by a sealing rubber sleeve 16 to prevent liquid from penetrating into the lumen.
A triangular support frame 17 is installed in the middle section of the shell 1, the device can play a role in fixed support and rotation adjustment when in use, and the current posture can be fixed through a knob at the bottom after being adjusted to a proper position.
The upper part of a handle 22 at the front end of the shell 1 is marked with a handle rotating angle dial 11, the inner ring is the actual rotating angle of the rotating shaft, and the outer ring is the rotating angle of the coaxial spray head.
The inner wall of the cavity at the front end of the shell 1 is provided with a continuous spherical groove 12 for fixing a ball spring plunger 24 in the rotary adjusting part.
The coaxial nozzle 3 is composed of an embedded curing light source 30, a coaxial nozzle inner ring 31, a coaxial nozzle outer ring 32, an illumination light source 33, a camera 34 and a bevel gear 35.
The coaxial nozzle 3 adopts an embedded curing light source 30 and can be formed by connecting lighting fibers or LED ultraviolet lamp beads in series to form a strip-shaped curing light source. The coaxial nozzle outer ring 32 has the functions of material outlet and shading, and the illumination light sources 33 are uniformly distributed around the coaxial nozzle 3. One end of the coaxial nozzle 3 is used for mounting a camera 34, and the other end is provided with a bevel gear 35.
The rotary reversing structure 2 comprises a rotary positioning mechanism and a reversing mechanism. The rotary positioning part comprises a cylindrical external fixing frame 23, a handle 22, a lower adjusting block 25 and a ball spring plunger 24, and the handle 22 is connected with the lower adjusting block 25 through a bolt. The outer end of the cylindrical outer fixing frame 23 of the rotary reversing structure 2 is marked with a scale pointer, so that the scale pointer can be conveniently aligned with the 0 scale of the handle. Four holes are symmetrically distributed around the cylindrical external fixing frame 23 for mounting the ball spring plunger 24. The other end of the ball spring plunger 24 has the same slope as the slope of the lower regulating block 25. The lower adjusting block 25 is provided at its distal end with a bevel gear set 26, and the bevel gear set 26 is used for changing and transmitting the rotation of the cylindrical external fixing frame 23 and the rotation direction of the coaxial injection head 3.
The invention provides an in-situ printing method for minimally invasive surgery, which comprises the following operation steps:
(1) the device is held in hand to access an area 4 to be repaired, such as a cartilage lesion, etc. As shown in fig. 2, the operator determines the initial attitude by means of a triangular support 17 at the bottom of the housing 1. At this time, the state of the device is changed as shown in fig. 4(b), the rotary reversing structure 2 is in a tensioning and positioning state, the ball head of the outer end of the ball head spring plunger 24 is propped against the inner wall of the shell 1 under the action of the elastic force of the internal spring, and the inner wall is provided with a continuous spherical clamping groove 12 for further stable clamping and preventing the ball head from radial movement; in the axial direction, the cylindrical external fixing frame 23 tightly abuts against the internal positioning ring 13 of the housing 1 and the handle angle dial 11, avoiding axial play.
(2) When the image obtained by the camera 34 as shown in fig. 5 shows that the included angle between the initial posture of the coaxial nozzle 3 and the area to be repaired is not suitable and is not favorable for material accumulation and molding, or the area to be repaired is too narrow and is not convenient for further depth, as shown in fig. 3, the handle 22 is pressed downwards (a spring needs to be added at the joint, and the spring plunger is at the joint), at this time, the inclined surface of the ball spring plunger 24 moves along the inclined surface of the downward adjusting block 25, a gap appears between the ball spring plunger 24 and the continuous spherical groove 12, the handle 22 is continuously rotated, and the rotation and the angle adjustment of the coaxial nozzle 3 around the coaxial nozzle support shaft 15 can be realized through the bevel gear set 26. The angle of rotation about the Y-axis can be taken by the outer angle of the handle angle dial 11 as shown in fig. 2, and the angle of actual rotation of the distal coaxial spraying head 3 can be read by the inner angle. After the ball head spring plunger 24 is adjusted to a proper posture, the handle 22 is loosened, and the ball head spring plunger 24 is automatically clamped in the continuous spherical groove 12, so that clamping and positioning are realized.
(3) After the coaxial nozzle 3 is adjusted in position, the light-cured hydrogel enters the coaxial nozzle 3 through the outer ring of the inlet of the material channel 14 shown in fig. 2, and the in-line curing light source 30 shown in fig. 5 is turned on. The light-cured hydrogel is accumulated to the area 4 to be repaired at the outlet of the inner ring 31 of the coaxial spray head. The outlet of the coaxial nozzle is provided with a shading circular tube which is slightly longer than the coaxial nozzle, so that the light-cured material is prevented from being irradiated and cured in advance at the outlet and being continuously irradiated by light during irradiation to block the coaxial nozzle; the light sources 33 around the coaxial nozzle are uniformly distributed, and the light radiation received by the light-curing material is more stable and uniform. After the light-cured material is conveyed to a part to be filled, continuous illumination or interval illumination can be selected through the controller, so that the uniform light-cured degree is facilitated, and the phenomena of overlong concentrated illumination time, over-hard surface layer and insufficient bottom layer curing in one-time injection are avoided. At the moment, the periphery of the solidified hydrogel is in contact with the inner wall of the defect part, and a cavity formed by the coaxial nozzle and the inner ring hose is arranged in the solidified hydrogel.
(5) After the filling of the photocurable hydrogel is completed and the photocurable hydrogel is cured, the supply of the photocurable hydrogel is stopped and the in-line curing light source 30 is turned off. And substances such as growth factors, medicaments or cell suspension and the like are continuously conveyed into the inner cavity of the solidified hydrogel through the inner ring.
And then, the hose at the inner ring of the coaxial nozzle is drawn out from the cavity in the hydrogel, the hydrogel is continuously supplied to the outer ring of the coaxial nozzle, the light source is turned on again, and a layer of aqueous gel is packaged at the upper part to keep the substances in the inner cavity and prevent the substances from flowing out. At this time, this printing is completed.
The filling degree is determined by the camera 34, and the operation is finished after the area to be repaired 4 is completely filled. And (5) repeating the steps (2) to (5) if other areas need to be repaired.
Example (b):
as shown in fig. 6, the delivery device for light-cured hydrogel for minimally invasive surgery and the in-situ printing method were placed on a table, and the initial posture was determined and fixed using a tripod. The outer ring is made of 10% modified light-cured gelatin, the inner ring is made of 5% sodium alginate mixed solution and 0.5% 1173 is a photoinitiator. The 5cc dispensing syringe and the injection pump are adopted as a feeding device, and the syringe is connected by a hose with a luer male head and a female headIs connected with a material delivery port of the device, a 375nm ultraviolet laser and an illumination optical fiber are selected as light sources, the extrusion speed is set to be 0.01ml/s, and the intensity of the light source is set to be 30mw/cm2. A square block with a hole with the diameter of 5mm and the depth of 5mm is printed by an SLA technology to be used as a model of the defect to be repaired, and the position of a coaxial spray head is adjusted by a handle to ensure that an outlet of the square block forms an included angle of 30 degrees with the axis of the defect part. And then starting the injection pump and the light source controller, setting the starting interval of the injection pump to be 1s, keeping the light source on all the time, illuminating for 10s when the material is extruded for 10s, and then stopping extruding the material and continuing illumination. And after 10s, continuously extruding the material, and repeating the process until the hydrogel is flush with the outer edge, and at the moment, continuously filling the inner ring with sodium alginate until the inner holes are completely filled. And when the experiment is finished, the repairing condition is observed, the defect part is completely filled with the photocuring material, the model is turned over, the material does not flow out, and the combination is good.
Claims (7)
1. A light-cured hydrogel conveying device for minimally invasive surgery is characterized by comprising a shell (1), a rotary reversing structure (2) and a coaxial spray head (3), wherein the rotary reversing structure (2) and the coaxial spray head are installed inside the shell (1); wherein the content of the first and second substances,
one end of the rotary reversing structure (2) extends out of the shell (1), the other end of the rotary reversing structure is connected with one end of the coaxial nozzle (3) through a bevel gear set (26) and used for adjusting the rotation angle of the coaxial nozzle (3), and the other end of the coaxial nozzle (3) is provided with an outlet and extends out of the shell (1);
coaxial nozzle (3) are T type form, including coaxial shower nozzle inner circle (31) and coaxial shower nozzle outer lane (32) that from interior to exterior set up with the axle center, coaxial shower nozzle inner circle (31) are the hose, and can be in coaxial shower nozzle outer lane (32) relative movement, the exit of coaxial shower nozzle inner circle (31) is provided with embedded solidification light source (30), coaxial shower nozzle outer lane (32) are the step shaft, its terminal surface week that is close to the exit end is provided with a plurality of illumination light source (33), coaxial shower nozzle outer lane (32) keep away from the other end week of exit end upwards be 180 and be provided with the feed inlet respectively and be used for bevel gear (35) with bevel gear group (26) external toothing.
2. The delivery device of claim 1, wherein a camera (34) is arranged outside the inlet of the coaxial nozzle (3) in the direction of the outlet.
3. The light-cured hydrogel conveying device for minimally invasive surgery according to claim 1, wherein the housing (1) is L-shaped, the inner wall of the housing is provided with a continuous spherical groove (12) and an internal positioning ring (13), a material channel (14) communicated with the feed inlet of the coaxial nozzle (3) and a line channel for wiring are axially arranged in the housing (1), the inlet of the material channel (14) and the inlet of the line channel both extend out of the housing (1), and the housing (1) is further internally provided with a coaxial nozzle supporting shaft (15) for supporting the coaxial nozzle (3) and a sealing rubber sleeve (16) for sealing the coaxial nozzle (3).
4. The delivery device of the light-cured hydrogel for minimally invasive surgery as claimed in claim 3, wherein the bottom of the housing (1) is further provided with a triangular support frame (17).
5. The conveying device for the light-cured hydrogel for the minimally invasive surgery as claimed in claim 3, wherein the rotary reversing structure (2) comprises a handle (22) and a lower adjusting block (25) which are coaxially connected together, the lower adjusting block (25) is provided with a plurality of ball spring plungers (24) matched with the continuous ball grooves (12) and a cylindrical outer fixing frame (23) matched with the inner positioning ring (13) in the circumferential direction of the joint of the lower adjusting block (25) and the handle (22), the bevel gear set (26) is arranged at the other end of the lower adjusting block (25), and the other end of the handle (22) extends out of the housing (1).
6. The delivery device of claim 5, wherein the other end of the handle (22) is further provided with a handle rotation angle pointer (21), and the housing (1) is provided with a handle rotation angle dial (11) matched with the handle rotation angle pointer.
7. The light-cured hydrogel delivery device for minimally invasive surgery as claimed in claim 5, wherein the posture of the delivery device is adjusted through transmission transformation of the internal bevel gear set (26) during manual operation, so as to convert rotation of the handle (22) around the Y axis into rotation of the coaxial nozzle (3) around the X axis, and the rotation range of the coaxial nozzle (3) is 0-180 degrees.
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| CN108044933A (en) * | 2017-12-07 | 2018-05-18 | 汤庆佳 | A kind of nozzle system of combined type spray-painting 3D printer |
| CN109055212A (en) * | 2018-08-03 | 2018-12-21 | 浙江大学 | A kind of coaxial printing head of multicomponent |
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2019
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| EP0712051A2 (en) * | 1994-11-09 | 1996-05-15 | Texas Instruments Incorporated | Improvements in or relating to the manufacture of three-dimensional objects |
| CN106217878A (en) * | 2015-01-27 | 2016-12-14 | 王和根 | A kind of 3D printer printing carbon fiber |
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| CN106863798A (en) * | 2017-02-16 | 2017-06-20 | 浙江大学 | A kind of 3D printing shower nozzle |
| CN107127971A (en) * | 2017-06-21 | 2017-09-05 | 西安交通大学 | A kind of photocuring extrusion shower nozzle in situ |
| CN108044933A (en) * | 2017-12-07 | 2018-05-18 | 汤庆佳 | A kind of nozzle system of combined type spray-painting 3D printer |
| CN109055212A (en) * | 2018-08-03 | 2018-12-21 | 浙江大学 | A kind of coaxial printing head of multicomponent |
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| CN110101448A (en) | 2019-08-09 |
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