FR3087703B1 - Systeme de bio-impression robotise - Google Patents
Systeme de bio-impression robotise Download PDFInfo
- Publication number
- FR3087703B1 FR3087703B1 FR1859891A FR1859891A FR3087703B1 FR 3087703 B1 FR3087703 B1 FR 3087703B1 FR 1859891 A FR1859891 A FR 1859891A FR 1859891 A FR1859891 A FR 1859891A FR 3087703 B1 FR3087703 B1 FR 3087703B1
- Authority
- FR
- France
- Prior art keywords
- bio
- objects
- biological
- target
- printing system
- 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.)
- Active
Links
- 239000012620 biological material Substances 0.000 abstract 1
- 230000001413 cellular effect Effects 0.000 abstract 1
- 238000004519 manufacturing process Methods 0.000 abstract 1
- 239000000463 material Substances 0.000 abstract 1
- 239000002245 particle Substances 0.000 abstract 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
- B29C64/227—Driving means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/10—Processes of additive manufacturing
- B29C64/106—Processes of additive manufacturing using only liquids or viscous materials, e.g. depositing a continuous bead of viscous material
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0033—Programme-controlled manipulators having parallel kinematics with kinematics chains having a prismatic joint at the base
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0051—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1684—Tracking a line or surface by means of sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
- B29C64/205—Means for applying layers
- B29C64/209—Heads; Nozzles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
- B29C64/245—Platforms or substrates
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/30—Auxiliary operations or equipment
- B29C64/386—Data acquisition or data processing for additive manufacturing
- B29C64/393—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y10/00—Processes of additive manufacturing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y30/00—Apparatus for additive manufacturing; Details thereof or accessories therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y50/00—Data acquisition or data processing for additive manufacturing
- B33Y50/02—Data acquisition or data processing for additive manufacturing for controlling or regulating additive manufacturing processes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y70/00—Materials specially adapted for additive manufacturing
-
- C—CHEMISTRY; METALLURGY
- C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
- C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
- C12M21/00—Bioreactors or fermenters specially adapted for specific uses
- C12M21/08—Bioreactors or fermenters specially adapted for specific uses for producing artificial tissue or for ex-vivo cultivation of tissue
-
- C—CHEMISTRY; METALLURGY
- C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
- C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
- C12M29/00—Means for introduction, extraction or recirculation of materials, e.g. pumps
- C12M29/06—Nozzles; Sprayers; Spargers; Diffusers
-
- C—CHEMISTRY; METALLURGY
- C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
- C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
- C12M33/00—Means for introduction, transport, positioning, extraction, harvesting, peeling or sampling of biological material in or from the apparatus
-
- C—CHEMISTRY; METALLURGY
- C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
- C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
- C12M41/00—Means for regulation, monitoring, measurement or control, e.g. flow regulation
- C12M41/48—Automatic or computerized control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
- B29C64/20—Apparatus for additive manufacturing; Details thereof or accessories therefor
- B29C64/264—Arrangements for irradiation
- B29C64/268—Arrangements for irradiation using laser beams; using electron beams [EB]
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Materials Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Bioinformatics & Cheminformatics (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Organic Chemistry (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Biomedical Technology (AREA)
- Genetics & Genomics (AREA)
- Robotics (AREA)
- Microbiology (AREA)
- Sustainable Development (AREA)
- Biochemistry (AREA)
- General Engineering & Computer Science (AREA)
- General Health & Medical Sciences (AREA)
- Biotechnology (AREA)
- Molecular Biology (AREA)
- Analytical Chemistry (AREA)
- Computer Hardware Design (AREA)
- Apparatus Associated With Microorganisms And Enzymes (AREA)
- Immobilizing And Processing Of Enzymes And Microorganisms (AREA)
- Manipulator (AREA)
Abstract
L'invention se rapporte à un système de bio-impression pour la fabrication d'un matériau biologique structuré, à partir de matériaux dont une partie au moins est constituée de particules biologiques (cellules et dérivés cellulaires) comprenant : a) un ensemble d'impression contenant au moins une tête d'impression d'objets d'intérêt biologique et au moins une cible, b) une source d'alimentation de ladite tête d'impression en objets d'intérêt biologique, c) un moyen de bio-impression desdits objets d'intérêt biologique, d) un moyen de déplacement relatif de la tête d'impression par rapport à la cible, caractérisé en ce que ledit moyen de déplacement est constitué par un robot commandant le déplacement de ladite cible selon six axes, une au moins desdites têtes d'impression étant fixe pendant la phase d'impression.
Priority Applications (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1859891A FR3087703B1 (fr) | 2018-10-25 | 2018-10-25 | Systeme de bio-impression robotise |
JP2021522457A JP2022505792A (ja) | 2018-10-25 | 2019-10-24 | ロボット化されたバイオプリンティングシステム |
KR1020217015701A KR20210081406A (ko) | 2018-10-25 | 2019-10-24 | 로봇화 바이오 프린팅 시스템 |
PCT/FR2019/052542 WO2020084263A1 (fr) | 2018-10-25 | 2019-10-24 | Systeme de bio-impression robotise |
CN201980068583.2A CN112930263A (zh) | 2018-10-25 | 2019-10-24 | 自动化生物打印*** |
US17/288,467 US20210354381A1 (en) | 2018-10-25 | 2019-10-24 | Robotic bioprinting system |
EP19813628.5A EP3870447A1 (fr) | 2018-10-25 | 2019-10-24 | Systeme de bio-impression robotise |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1859891A FR3087703B1 (fr) | 2018-10-25 | 2018-10-25 | Systeme de bio-impression robotise |
Publications (2)
Publication Number | Publication Date |
---|---|
FR3087703A1 FR3087703A1 (fr) | 2020-05-01 |
FR3087703B1 true FR3087703B1 (fr) | 2020-12-04 |
Family
ID=66166052
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
FR1859891A Active FR3087703B1 (fr) | 2018-10-25 | 2018-10-25 | Systeme de bio-impression robotise |
Country Status (7)
Country | Link |
---|---|
US (1) | US20210354381A1 (fr) |
EP (1) | EP3870447A1 (fr) |
JP (1) | JP2022505792A (fr) |
KR (1) | KR20210081406A (fr) |
CN (1) | CN112930263A (fr) |
FR (1) | FR3087703B1 (fr) |
WO (1) | WO2020084263A1 (fr) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112936230B (zh) * | 2021-03-25 | 2021-12-14 | 南京航空航天大学 | 一种多机器人协同一体化制造装置及其工作方法 |
CN115416283B (zh) * | 2022-08-31 | 2024-05-24 | 上海大学 | 针对皮肤表皮层模型的生物3d打印制备***及3d打印方法 |
Family Cites Families (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20100206224A1 (en) * | 2007-09-24 | 2010-08-19 | Berner Fachhochschule fur Technik und informatik HTI | Device for the deposition of layers |
WO2011107599A1 (fr) * | 2010-03-04 | 2011-09-09 | INSERM (Institut National de la Santé et de la Recherche Médicale) | Station de bioimpression, ensemble comprenant une telle station de bioimpression et procédé de bioimpression |
WO2015017579A1 (fr) * | 2013-07-31 | 2015-02-05 | Organovo, Inc. | Dispositifs, systèmes et procédés automatisés pour la fabrication de tissus |
US10119108B2 (en) * | 2013-08-01 | 2018-11-06 | Sartorius Stedim Biotech Gmbh | Manufacturing within a single-use container |
US9505173B2 (en) | 2013-08-01 | 2016-11-29 | Sartorius Stedim Biotech Gmbh | Single-use biological 3 dimensional printer |
KR102215693B1 (ko) | 2013-10-11 | 2021-02-15 | 어드밴스드 솔루션즈 라이프 사이언스, 엘엘씨 | 바이오 물질 구성물의 설계, 제조 및 조립을 위한 시스템 및 워크스테이션 |
US9764515B2 (en) | 2014-05-01 | 2017-09-19 | Musc Foundation For Research Development | Multidispensor cartesian robotic printer |
JP6239456B2 (ja) | 2014-07-18 | 2017-11-29 | サムスン エレクトロニクス カンパニー リミテッド | 蛍光体およびその製造方法 |
FR3030361B1 (fr) * | 2014-12-17 | 2017-01-20 | Univ Bordeaux | Procede d'impression d'elements biologiques par laser et dispositif pour sa mise en oeuvre |
FR3030360B1 (fr) | 2014-12-17 | 2018-07-13 | Universite de Bordeaux | Procede d'impression par laser et dispositif pour sa mise en oeuvre |
JP5940712B1 (ja) * | 2015-05-25 | 2016-06-29 | Dmg森精機株式会社 | 加工機械 |
JP6677469B2 (ja) * | 2015-09-11 | 2020-04-08 | 株式会社安川電機 | 検体処理システムおよび検体処理方法 |
US10926454B2 (en) | 2016-05-20 | 2021-02-23 | Sartorius Stedim Biotech Gmbh | Dispensing device and system for biological products |
CN109311305B (zh) * | 2016-06-14 | 2021-10-15 | 耐克创新有限合伙公司 | 弹簧加载的喷嘴组件 |
JP2018000007A (ja) * | 2016-06-27 | 2018-01-11 | 株式会社デンソーウェーブ | 材料収容ボックス |
CN106264796B (zh) * | 2016-10-19 | 2018-04-06 | 泉州装备制造研究所 | 一种基于多轴联动控制和机器视觉测量的3d打印*** |
SE542653C2 (en) * | 2017-01-13 | 2020-06-23 | Cellink Ab | A 3D bioprinter and a 3D bioprinter system |
US11524451B2 (en) * | 2017-11-10 | 2022-12-13 | General Electric Company | Additive manufacturing apparatus having a stabilized build platform and methods of its use |
GB201804215D0 (en) * | 2018-03-16 | 2018-05-02 | Rolls Royce Plc | Applying a cladding layer to a component |
-
2018
- 2018-10-25 FR FR1859891A patent/FR3087703B1/fr active Active
-
2019
- 2019-10-24 KR KR1020217015701A patent/KR20210081406A/ko active Search and Examination
- 2019-10-24 CN CN201980068583.2A patent/CN112930263A/zh active Pending
- 2019-10-24 US US17/288,467 patent/US20210354381A1/en active Pending
- 2019-10-24 JP JP2021522457A patent/JP2022505792A/ja active Pending
- 2019-10-24 WO PCT/FR2019/052542 patent/WO2020084263A1/fr unknown
- 2019-10-24 EP EP19813628.5A patent/EP3870447A1/fr active Pending
Also Published As
Publication number | Publication date |
---|---|
WO2020084263A1 (fr) | 2020-04-30 |
KR20210081406A (ko) | 2021-07-01 |
CN112930263A (zh) | 2021-06-08 |
US20210354381A1 (en) | 2021-11-18 |
JP2022505792A (ja) | 2022-01-14 |
EP3870447A1 (fr) | 2021-09-01 |
FR3087703A1 (fr) | 2020-05-01 |
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