The present invention relates to the field of 3D printing/additive
manufacturing. More particularly present invention relates to 3D bio-printers.
Even more particularly, present invention relates to a 3D bio-printer and system
for real-time in vivo wound healing by flexibly injecting bio-inks onto the wounds
10 and covering them with a biodegradable layer.
BACKGROUND OF THE INVENTION
[0002] Background description includes information that may be useful in
15 understanding the present invention. It is not an admission that any of the
information provided herein is prior art or relevant to the presently claimed
invention, or that any publication specifically or implicitly referenced is prior art.
[0003] Charles Hull was the first one to develop bio-printing in 1983 by inventing
20 stereo-lithography that gradually led to the development of 3D bio-printing
organs. Bio-printing is a type of 3D printing/additive manufacturing that aims at
precisely dispensing out cell-laden biomaterials, thereby forming complex and
functional living tissues and/or artificial organs. The process of 3D bio-printing
includes a first step of performing CAD modeling of the received images of living
25 tissues/artificial organs, printing the modeled CAD images via bio-inks filled in a
bio-printer and then lastly, post-processing the printed living tissues/artificial
organs as per the further requirements.
[0004] The following years have seen advancements in different types of bio30 printing technologies, most of them aiming significantly towards development of
scaffolds-fee bio-printing technologies and others aiming at improving the cell-
4
viability. So far, a combination of different biomaterials, cells, human-friendly
chemicals, and multiple physiological and physiochemical factors have been
incorporated to ensure recovery of diseases/injuries and tissue development.
5 [0005] US6,408,224B1 discloses a rotary articulated robot having atleast multiple
offset rotary joints having a drive arm and a driven arm respectively in rotation
about an offset rotary axis having inclination with respect to the arm axis, a
hollow rotary shaft arranged rotatably and driven in rotation by a motor such that
such hollow rotary shaft and a rotor member constitute a high reduction ratio
10 transmission/torque increasing mechanism. As per a method of control thereof,
the operation of joints is analyzed by dividing the end effector into multiple
blocks such that the operating conditions for each joint necessary for movement to
prescribed block are converted to database form for each block, a database form is
generated for the teaching of operating points in the prescribed block region.
15 Finally, on the basis of block region data, a track is generated to the block of
operating region such that the in-block operating point is fetched when a reference
point of block is reached.
[0006] WO2017011854A1 discloses a method of 3D tissue culture modeling
20 comprising steps of printing a drop of bio-ink onto a substrate, printing a drop of
activator to the drop of bio-ink, thereby forming a hydrogel droplet, repeating the
aforementioned two steps in any order to form a hydrogel mold adapted to receive
drop containing cells, printing such drop containing cells on a hydrogel mold and
then repeating again the first two steps to form a 3D tissue culture model that
25 comprises of the cells encapsulated within the hydrogel mold.
[0007] Though several works have been tried to perform tissue generation and
live organ development to enhance tissue engineering, the major challenge faced
by all such works is their incapability to be performed in real-time for live in vivo
30 wound healing.
5
[0008] Most of the researches has been done to make portable 3D bio-printed
organs, both with and without scaffolds, but the application of same technologies
for real-time tissue generation on human subjects has not yet been proven tangible
and fruitful. Many companies have launched products intended for printing organs
5 and small vessel trees, but unfortunately, these products cannot be tested directly
on human body because of their inflexibility.
[0009] People have gathered huge funds and monetary supports in this field and
have pioneered some of the main bio-printing techniques that are known today,
10 but it has been observed according to the facts that these techniques are often too
expensive, slow and sensitive and are hence conducted with maximum possible
care and measures.
[0010] Some of the bio-printing processes like the Laser-Induced Forward
15 Transfer (LIFT) and Trix Assisted Pulsed Laser Evaporation Direct Writing
(TAPLEDW) often lead to poor control of single cells but have higher throughput
and resolution. The heat generated often damages and hinders the viability of the
cells taken into the account.
20 [0011] The key problem faced by the aforementioned bio-printing technologies is
cell sources thereof, as cells are not found in abundance and take time to culture.
Notably, stem cells are seen to be of high viability but short life cycle and due to
their functional transferability, these may reduce the number and types of cells
utilized while bio-printing.
25
[0012] Printing living tissues and organs clearly requires a 3D approach. There is
manual assembling of 2D cell sheets done into 3D tissue-like structures, but there
are some limitations faced by the researchers in terms of automation, scalability,
and low speed that eventually leads to long printing hours. The concept of organ
30 printing which is based on the principles of directed step by step and/or layer by
6
layer deposition and sequential biological tissue self-assembly is one of the main
challenges faced by researchers these days.
[0013] Introduction of robotics and artificial intelligence in the field of bio5 printing can enable researchers to touch and interact with various aspects of tissue
engineering. The challenge is to make an anthropomorphic, flexible, agile, and
robust 3D bio-printing device and a system that can store different types of cell
mixture for a longer time and can heal the wounds and cuts in any condition and
pattern with the embedded artificial intelligence.
10
OBJECTS OF THE INVENTION
[0014] The principal object of the present invention is to overcome the
disadvantages of the prior art.
15
[0015] An object of the present invention is to provide an anthropomorphic,
portable, flexible, agile, and robust 3D bio-printing device.
[0016] Another object of the present invention is to facilitate real-time wound
20 healing of living organisms, especially human subjects.
[0017] Another object of the present invention is to facilitate live monitoring of
the bio-printing process via proper scanning and record keeping of target area.
25 [0018] Yet another object of the present invention is to provide a
remotely/wirelessly accessible bio-printing device.
[0019] The foregoing and other objects, features, and advantages of the present
invention will become readily apparent upon further review of the following
30 detailed description of the preferred embodiment as illustrated in the
7
accompanying drawings.
SUMMARY OF THE INVENTION
5 [0020] The present invention relates to a flexible, agile, and robust 3D bioprinting device for real-time wound healing by injecting regenerative bio-inks and
a system for live monitoring thereof.
[0021] According to an embodiment of the present invention, a bio-printing
10 system for real-time in vivo wound healing is disclosed, comprising at least one
scanning unit for acquiring one or more three-dimensional images of at least one
injured area, a user interface linked to the at least one scanning unit for generating
computer-aided designs based on features extracted via machine learning
regression modeling of the images, at least one bio-printing device operable to
15 patternly deposit bio-inks onto the injured area based on the designs and a
controlling unit facilitating the patternly deposition by transferring plurality of
instructions between the user interface and the bio-printing device.
[0022] According to another embodiment of present invention, the system further
20 comprises a temperature controlling unit to maintain cell viability and temperature
propitious for bio-ink deposition. Also, the scanning unit further comprises of at
least one position sensor for spotting the injured area, thereby assisting the
scanning unit to align thereto.
25 [0023] According to another embodiment of present invention, a bio-printing
device for real-time in vivo wound healing is disclosed comprising a flexible
manipulator arm and an end-effector contiguous to the arm for depositing bio-ink
on a target area, further comprising a primary mounting, wherein elongated end of
the primary mounting equips a pinion, atleast two hollow elongated secondary
30 mountings, wherein a side of the secondary mountings clamp a rack to lockably
engage the pinion, thereby allowing sliding/switching of the secondary
8
mountings with respect to the primary mounting, a scanner connected to the
primary mounting for real-time monitoring of the target area, atleast two biomixture filled replaceable syringes insertable inside the secondary mountings to
dispense bio-inks onto the target region depending on the strength of actuation
5 received via an inbuilt linear actuator and atleast one ultra-violet lamp attached on
atleast one secondary mounting to disinfect and solidify upper layer of the bioink dispensed on the target area.
[0024] According to another embodiment of present invention, the manipulator
10 arm further comprising a base affixed on a surface, a shoulder attached to the base
via atleast one swivel joint, an upper arm attached to the shoulder via atleast a
revolute joint, a lower arm attached to the upper arm via atleast another revolute
joint and ending with the end-effector.
15 [0025] According to another embodiment of present invention, the manipulator is
rotatable in six degrees of freedom and operational via plurality of servo motors.
Moreover, the primary mounting further comprises of a motor actuated rotating
shaft for driving the pinion.
20 [0026] According to another embodiment of present invention, the bio-mixture
inside atleast two syringes consist of bio-material mixed with hydrogels of any
cell type and/or a photosensitive ultra-violet curable bio-material respectively or a
combination thereof. Also, the bio-material is selected to be but not limited to
stem cells, mesenchymal cells, coalescent cells or combination thereof. The linear
25 actuator encompasses upper portion inside each of the secondary mountings and
comprises a piston disposed there-below.
[0027] While the invention has been described and shown with particular
reference to the preferred embodiment, it will be apparent that variations might be
30 possible that would fall within the scope of the present invention.
9
BRIEF DESCRIPTION OF THE DRAWINGS
5 [0028] The accompanying drawings are included to provide a further
understanding of the present disclosure and are incorporated in and constitute a
part of this specification. The drawings illustrate exemplary embodiments of the
present disclosure and, together with the description, serve to explain the
principles of the present disclosure.
10
[0029] In the figures, similar components and/or features may have the same
reference label. Further various components of the same type may be
distinguished by following the reference label with a second label that
distinguishes among the similar components. If only the first reference label is
15 used in the specification, the description is applicable to any of the similar
components having the same reference label irrespective of the second reference
label.
Figure 1 illustrates a schematic representation of an exemplary bio-printing
environment for a bio-printing device, according to an embodiment of present
20 invention;
Figure 2 illustrates a block diagram of a bio-printing system, according to an
embodiment of present invention.
Figure 3 illustrates a top view of a three-dimensional bio-printing device
operating on an exemplary test subject, showing the maximum reachability of the
25 device and a magnified view of process taking place onto the subject, according to
an embodiment of present invention;
Figure 4 depicts schematics on the workspace of the bio-printing device, thus
demonstrates the reachability thereof, according to an embodiment of present
invention;
30 Figure 5 illustrates front view of embodiments comprised within end effector of
bio-printing device and a dual nozzle changing mechanism, according to an
10
embodiment of present invention; and
Figure 6 presents a side view of end-effector of bio-printing device, according to
an embodiment of present invention.
Figure 7 illustrates a flow chart of sequential stages of process to accomplish 3D
5 printing, according to an embodiment of present invention.
DETAILED DESCRIPTION OF THE INVENTION
[0030] As used in the description herein and throughout the claims that follow,
10 the meaning of “a,” “an,” and “the” includes plural reference unless the context
clearly dictates otherwise. Also, as used in the description herein, the meaning of
“in” includes “in” and “on” unless the context clearly dictates otherwise.
[0031] If the specification states a component or feature “may”, “can”, “could”, or
15 “might” be included or have a characteristic, that particular component or feature
is not required to be included or have the characteristic.
[0032] Exemplary embodiments will now be described more fully hereinafter
with reference to the accompanying drawings, in which exemplary embodiments
20 are shown. This disclosure may however, be embodied in many different forms
and should not be construed as limited to the embodiments set forth herein. These
embodiments are provided so that this disclosure will be thorough and complete
and will fully convey the scope of the disclosure to those of ordinary skill in the
art. Moreover, all statements herein reciting embodiments of the disclosure, as
25 well as specific examples thereof, are intended to encompass both structural and
functional equivalents thereof. Additionally, it is intended that such equivalents
include both currently known equivalents as well as equivalents developed in the
future (i.e., any elements developed that perform the same function, regardless of
structure).
30
[0033] Various terms as used herein are shown below. To the extent a term used
11
in a claim is not defined below, it should be given the broadest definition persons
in the pertinent art have given that term as reflected in printed publications and
issued patents at the time of filing.
5 [0034] In some embodiments, the numerical parameters set forth in the written
description and attached claims are approximations that can vary depending upon
the desired properties sought to be obtained by a particular embodiment. In some
embodiments, the numerical parameters should be construed in light of the
number of reported significant digits and by applying ordinary rounding
10 techniques. Notwithstanding that the numerical ranges and parameters setting
forth the broad scope of some embodiments of the invention are approximations,
the numerical values set forth in the specific examples are reported as precisely as
practicable. The numerical values presented in some embodiments of the
invention may contain certain errors necessarily resulting from the standard
15 deviation found in their respective testing measurements.
[0035] The present invention relates to a device and a system for real-time in vivo
wound healing by flexibly injecting bio-inks onto the target area, thereby covering
it with a solidified biodegradable layer of regenerative cells.
20
[0036] Referring to Figure 1 and 2, a schematic representation of an exemplary
bio-printing environment for a bio-printing device, according to an embodiment
of present invention is illustrated. The exemplary bio-printing environment
comprises of the bio-printing device (1), a controlling unit (2), power supply (3)
25 as visible along with a user interface (4) and a scanning unit (5). One of the
components of the bio-printing device (1), as disclosed in one of the
embodiments, is a manipulator arm contiguous to an end-effector (6) for
depositing bio-ink on a target area. The target area here refers to the cut/wound in
vivo, especially a human subject but not limited thereto. If needed, the device (1)
30 can also be used to print live organs, blood vessels and many more from a Petri
dish to big live animals or mammals.
12
[0037] The manipulator arm further comprises of a base (7) affixed on a surface, a
shoulder (8) attached to the base (7) via atleast one swivel joint (9), an upper arm
(10) attached to the shoulder (8) via atleast one revolute joint (11), a lower arm
5 (12) attached to the upper arm (10) via atleast another revolute joint (13) and
ending with the end-effector (6). Herein, the surface may be made up of but not
limited to metal, stone, wood and cement.
[0038] The swivel joints (9) and the revolute joints (11, 13) can be driven via
10 plurality of stepper/servo motors, thus making the manipulator arm flexibly
rotatable in the three-dimensional space (having six degrees of freedom).
Moreover, the joints are attached to the shoulder (8), upper arm (10) and lower
arm (12) respectively with the help of nuts and bolts which causes proper fixation
of servo/stepper motor. Additionally, an extra portion can be added to the
15 manipulator arm if there is any need to increase the work area of the bio-printing
device (1). The end-effector (6) attached at the end of the manipulator arm is the
main inventive step disclosed herein and operable to dispense bio-inks onto the
target area.
20 [0039] Referring to Figure 2, a block diagram of a bio-printing system for realtime in vivo wound healing is illustrated according to an embodiment of present
invention. The system comprises of atleast one scanning unit (5) for acquiring one
or more three-dimensional images of the injured area. The scanning unit (5) aims
to acquire the images from each and every angle to get a very thorough idea of the
25 injured region. According to an alternate embodiment, cameras can also be
employed at different angles for getting more precise and close scanning and
supervision.
[0040] A user interface (4) is used in order to generate computer-aided designs
30 (CAD) of the scanned images. The features of the acquired images can firstly be
extracted by applying machine learning regression modeling (Artificial
13
Intelligence) on the acquired images. Machine learning regression modeling is a
type of predictive modeling that investigates the differences between the injured
area and actual area before injury to predict the structural pattern to be structured
onto the injured area using bio-inks.
5
[0041] The controlling unit (2) has an in-built Human Machine Interface (HMI)
that allows the user to interact therewith and also show about the proceedings of
different processes in a structured manner. The CAD designs can be prepared
automatically by the system predictive analysis or manually by a user. Further, the
10 bio-printing device (1) operates onto the target area to deposit bio-inks depending
on the required predicted pattern, thereby healing the wound layer by layer.
[0042] Notably, plurality of instructions is required to reciprocate the predictive
analysis done by the user interface practically onto the target area via the bio15 printing device (1). Such plurality of instructions can be provided through a
controlling unit (2) which is responsible for continually transferring plurality of
instructions between the user interface (4) and the bio-printing device (1). The
controlling unit (2) can be referred to as the brain of the bio-printing system.
20 [0043] According to an embodiment, a temperature controlling unit can be
employed to maintain cell viability as well as to maintain temperature propitious
for the bio-ink deposition onto the injured area. Additionally, atleast one position
sensor assists in spotting the injured area accurately and precisely, thereby
assisting the scanning unit (5) to align thereon. Also, there can be robotic
25 calibration and positioning sensors and detectors to ascertain the relative height of
the end-effectors (6) with respect to the target region it will come in contact with.
[0044] As indicated in figure 3, a top view of three-dimensional bio-printing
device (1) operating on an exemplary test subject, showing the maximum
30 reachability of the device and a magnified view of process taking place onto the
14
subject is illustrated. Figure 3 depicts a human being laid on the operation table
and bio-printing taking place on his/her body with proper synchronization a
scanner for live monitoring of the process. A magnified view of the process taking
place onto the skin with precision and accuracy is also presented. Herein,
5 positioning system is controlled by the manipulator and the scanning unit (5) that
can scan whole body to find out the affected area.
[0045] In figure 4, schematics on the workspace of the bio-printing device (1) are
depicted, thus demonstrates the reachability thereof, according to an embodiment
10 of present invention. Collective reachability of figure 3 and figure 4 provides a
good amount of information about the flexibility that afore-discussed printing
system and device inherit.
[0046] Referring to figure 5, front view of embodiments comprised within end
15 effector of bio-printing device (1) and a dual nozzle changing mechanism is
illustrated, according to an embodiment of present invention. The end-effector (6)
is contiguous to the flexible manipulator arm and performs the function of
depositing bio-ink on the target area. Specifically, the end-effector is aligned at 45
degrees at the end of the lower arm (12). The end-effector (6) further comprises of
20 a primary mounting (14), atleast two hollow elongated secondary mountings (15a,
15b), a scanner, atleast two bio-mixture filled replaceable syringes (17a, 17b) and
an ultra-violet lamp (18).
[0047] According to an embodiment of present invention, the primary mounting
25 (14) is T-shaped and made up of metal or aluminum. The mounting (14) is
provided with an aim to impart strength and stability to embodiments attached
thereto. The elongated end of the T-shaped primary mounting (14) terminates
with a pinion (19). The pinion (19) herein is a part of a rack and pinion
arrangement formed on the primary mounting (14) and the secondary mountings
30 (15a, 15b). The primary mounting (14) is highly flexible in nature having six
degrees of freedom of motion.
15
[0048] The secondary mountings (15a, 15b) are two or more in count and hollow
from inside to equip further embodiments. The secondary mountings (15a, 15b)
are also made up of aluminum or metal such that a side, preferably inner side of
5 the secondary mountings (15a, 15b) clamp the rack (20) of the aforementioned
rack and pinion arrangement, such that the rack (20) lockably engages on the
pinion (19) to form the arrangement. As presented in the figure 5, such rack and
pinion arrangement based connection between the primary mounting (14) and
atleast two secondary mountings (15a, 15b) allows the sliding motion (up and
10 down motion) of the secondary mountings (15a, 15b) with respect to the primary
mounting (14) and also assists in switching of the secondary mountings (15a,
15b) while depositing bio-inks on the target area, according to the requirement.
[0049] The scanner is affixed at the back of the primary mounting (14) to perform
15 blue light scanning of the target area to detect the exact location of interest.
Moreover, the scanner also performs real-time monitoring of the target area whilst
bio-ink is being dispensed thereon.
[0050] Each of the secondary mountings (15a, 15b) will consist of a linear
20 actuator (21) with actuator stroke of 50 mm up till 200 mm with gear ratio of
22:1. The linear actuator (21) encompasses upper portion inside each of said
secondary mountings (15a, 15b) and comprises a piston (22) disposed therebelow. In the lower portion inside said secondary mountings (15a, 15b), biomixture filled syringe (17a, 17b) can be inserted whenever bio-printing needs to
25 take place. The syringe (17a, 17b) will be installed to prevent thereof from
environmental factors, serve as covering and/or keep the bio-material preserved.
The syringe (17a, 17b) will be in the form of use and throw syringes which will
be bio-degradable and can be recycled hence, and environmental safety is taken
into account.
30
16
[0051] The bio-mixture filled inside the barrel of the syringes (17a, 17b) consist
of bio-material mixed with hydrogels/cellularized matrix/de-cellularized matrix of
any cell type and/or a photosensitive ultra-violet curable bio-material respectively
or a combination thereof. Moreover, the bio-material is selected to be but not
5 limited to stem cells, mesenchymal cells, coalescent cells or combination thereof.
Particularly, in one of the syringes, (17a or 17b) there will be bio material (stem
cells or a mesenchymal cell) mixed with the hydrogel and in the other syringe
(17b or 17a) there will be a photosensitive bio-material that solidifies when made
to interact with ultra-violet or a white light.
10
[0052] When the syringes (17a, 17b) are inserted into the secondary mountings
(15a, 15b), the piston (22) of the linear actuator (21) attach to the plunger (23) of
the syringes (17a, 17b) such that the push/pull based pressure exerted on the
linear actuator (21), stimulates the plunger (23) of the syringes (17a, 17b) to be
15 pressed, leading to injection of bio-material from the needle of the syringes (17a,
17b). Biodegradable material gets deposited on the target region as a result of
layer by layer stimulated injection of bio-material, thereby facilitating real-time
healing of the wound.
20 [0053] According to an embodiment, one of the secondary mountings (15a, 15b)
can be connected to an ultra-violet (UV) lamp (18), that is connected to the
movable syringe (17a, 17b) slot with the help of nuts and bolts and which is
working under the variable wavelength of 10 nm to 400 nm that can be set
according to the needed circumstances. The UV lamp (18) serves as a disinfecting
25 device to make the environment infection and bacteria free and is also be used to
solidify the uppermost layer of the print that actually consists of deposition of
photo cross-linked polymer, thus leaving it unharmed and undisturbed. This
method will create an envelope for the bio-print to cause the regenerative
tendencies and increase curing time. Spacing can be provided between the target
30 areas and printing syringe so that printing process remains smooth and efficient.
There will be sensor installed in the secondary mounting (15a, 15b) to give
17
information about the requirement of other syringes and when the material inside
the syringe will be on the verge of finishing. Additionally, one or more sensors
can be employed to detect non-geometric properties of material dispensed onto
the target region.
5
[0054] The syringe’s needle (16) places the bio-material drop by drop onto the
target area to implement layer by layer deposition. Once some layers are left, the
syringe (17a) containing bio-material is turned up and the syringe (17b)
containing photo-crosslinked bio-material or environment friendly polymer is
10 turned down at the distance where the previous syringe (17a) was. This syringe
(17b) causes placement of the photo cross-linked bio-material onto the target area
and simultaneously UV lamp (18) starts to solidify the upper most layer so as to
prevent leaking thereof. The overall system and design improves the real-time in
vivo healing capacity and regeneration of cells.
15
[0055] Figure 6 indicates a side view of end effector (6) of the bio-printing device
(1). The figure clearly shows the positioning of a rotating shaft (25) for driving
the pinion (19) of the rack and pinion arrangement that is actuated by a
servo/stepper motor. The aforementioned rotating shaft can be mounted on the
20 back of the primary mounting (14). Specifically, the arrangement referred herein
not only facilitates the sliding action of atleast two secondary mountings (15a,
15b) linearly up and down with respect to the primary mountings (14), but also
assists in switching of the secondary mountings (15a, 15b) (and thus the syringes
(17a, 17b)) according to the operation to the requirement/operation.
25
[0056] Figure 7 indicates a flow chart of sequential stages of process to
accomplish 3D printing, according to an embodiment of present invention. The
process comprises steps of detecting the injured area within its 3D reachable
space and dimensioning of printing surface by scanning unit (5),
30 reconstructing/manual designing for the filing of wound in a manner that it takes
shape of a skin using a third party software. Either automatic or manual CAD
18
modeling can be used for surface reconstruction, thereupon transferring the coded
information to controlling unit (2), which inturn controls the end-effector (6) of
the manipulator arm to work accordingly and thus ensure real-time healing of the
cut/would layer by layer.
5
[0057] It should be apparent to those skilled in the art that many more
modifications besides those already described are possible without departing from
the inventive concepts herein. The inventive subject matter, therefore, is not to be
restricted except in the spirit of the appended claims. Moreover, in interpreting
10 both the specification and the claims, all terms should be interpreted in the
broadest possible manner consistent with the context. In particular, the terms
“includes” and “including” should be interpreted as referring to elements,
components, or steps in a non-exclusive manner, indicating that the referenced
elements, components, or steps may be present, or utilized, or combined with
15 other elements, components, or steps that are not expressly referenced. Where the
specification claims refer to at least one of something selected from the group
consisting of A, B, C ….and N, the text should be interpreted as requiring only
one element from the group, not A plus N, or B plus N, etc. The foregoing
description of the specific embodiments will so fully reveal the general nature of
20 the embodiments herein that others can, by applying current knowledge, readily
modify and/or adapt for various applications such specific embodiments without
departing from the generic concept, and, therefore, such adaptations and
modifications should and are intended to be comprehended within the meaning
and range of equivalents of the disclosed embodiments. It is to be understood that
25 the phraseology or terminology employed herein is for the purpose of description
and not of limitation. Therefore, while the embodiments herein have been
described in terms of preferred embodiments, those skilled in the art will
recognize that the embodiments herein can be practiced with modification within
the spirit and scope of the appended claims.
30
[0058] While embodiments of the present disclosure have been illustrated and
19
described, it will be clear that the disclosure is not limited to these embodiments
only. Numerous modifications, changes, variations, substitutions, and equivalents
will be apparent to those skilled in the art, without departing from the spirit and
scope of the disclosure, as described in the claims.
5
ADVANTAGES OF THE INVENTION
[0059] The present invention is to provide an anthropomorphic, flexible, agile,
and robust 3D bio-printing device.
10
[0060] The present invention facilitates real-time wound healing of living
organisms, especially human subjects.
[0061] The present invention facilitates live monitoring of the bio-printing
15 process via proper scanning and record keeping of target area.
[0062] The present invention provides a remotely/wirelessly accessible bioprinting device.
20 [0063] The present invention provides a versatile end effector containing the
above-mentioned printing device that can be mounted onto any bio-printing
manipulator.
[0064] The present invention provides an effective interpretation of cuts/wounds
25 on in vivo through the involvement of artificial intelligence, thus enabling proper
healing therein.
[0065] The present invention provides a bio-printing device that is portable in
nature.
30
20
[0066] The present invention provides a bio-printing device comprising high
resolution imaging with precision cell deposition and layering, at micrometer
level of accuracy.

We Claim:
1) A bio-printing system for real-time in vivo wound healing, comprising:
a) atleast one scanning unit (5) for acquiring one or more three-dimensional
images of atleast one injured area;
b) a user interface (4) linked to said atleast one scanning unit (5) for
generating computer-aided designs based on features extracted via
machine learning regression modeling of said images;
c) atleast one bio-printing device (1) operable to patternly deposit bio-inks
onto said injured area based on said designs; and
d) a controlling unit (2) facilitating said patternly deposition by transferring
plurality of instructions between said user interface (4) and said bioprinting device (1).
2) The system as claimed in claim 1, further comprising a temperature controlling
unit to maintain cell viability and temperature propitious for said bio-ink
deposition.
3) The system as claimed in claim 1, wherein said scanning unit (5) further
comprises of atleast one position sensor for spotting said injured area, thereby
assisting said scanning unit (5) to align thereon.
4) A bio-printing device for real-time in vivo wound healing, comprising:
a flexible manipulator arm and an end-effector (6) contiguous to said arm
for depositing bio-ink on a target area, further comprising:
a) a primary mounting (14), wherein elongated end of said primary mounting
(14) equips a pinion (19);
b) atleast two hollow elongated secondary mountings (15a, 15b), wherein a
side of said secondary mountings (15a, 15b) clamp a rack (20) to lockably
engage said pinion (19), thereby allowing sliding/switching of said
secondary mountings (15a, 15b) with respect to said primary mounting
(14);
22
c) a scanner connected to said primary mounting (14) for real-time
monitoring of said target area;
d) atleast two bio-mixture filled replaceable syringes (17a, 17b) insertable
inside said secondary mountings (15a, 15b) to dispense bio-inks onto said
target region depending on the strength of actuation received via an inbuilt
linear actuator (21); and
e) atleast one ultra-violet lamp (18) attached to atleast one secondary
mounting (15a, 15b) to disinfect and solidify upper layer of said bio-ink
dispensed on said target area.
5) The device as claimed in claim 1, wherein said manipulator arm further
comprising a base (7) affixed on a surface, a shoulder (8) attached to said base (7)
via atleast one swivel joint (9), an upper arm (10) attached to said shoulder (8) via
atleast a revolute joint (11), a lower arm (12) attached to said upper arm (10) via
atleast another revolute joint (13) and ending with said end-effector (6).
6) The device as claimed in claim 5, wherein said manipulator is rotatable in six
degrees of freedom and operational via plurality of servo motors.
7) The device as claimed in claim 1, wherein said primary mounting (14) further
comprises of a servo/stepper motor actuated rotating shaft for driving said pinion
(19).
8) The device as claimed in claim one, wherein bio-mixture inside said atleast two
syringes (17a, 17b) consist of bio-material mixed with hydrogels of any cell type
and/or a photosensitive ultra-violet curable bio-material respectively or a
combination thereof.
9) The device as claimed in claim 8, wherein said bio-material is selected to be
but not limited to stem cells, mesenchymal cells, coalescent cells or combination
thereof.
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10) The device as claimed in claim 1, wherein said linear actuator (21)
encompasses upper portion inside each of said secondary mountings (15a, 15b)
and comprises a piston (19) disposed there-below.