Workspace analysis of in situ printing system for repairing large-skin wounds
The repair of large-skin wounds has been a difficult problem to be solved urgently.At present,the commonly used repair methods are mainly autologous skin transplantation and wound dressing treatment,but these methods cannot simultaneously meet the needs of large-skin repair and customized repairment.The in situ skin printing technology provides a new idea for the repair of large-skin wounds.However,the existing bioprinting equipment has small printing range and low printing precision,which cannot realize the shape printing of large area of skin tissue.In order to solve the above problems,an in situ skin printing system composed of Stewart parallel robot,linear module mechanism,print head and 3D scanner was proposed.The Stewart parallel robot could achieve high-precision skin in situ printing as printing driving device due to high repeated positioning precision and low cumulative error.The Stewart parallel robot had six degrees of freedom and could adjust the printing angle in 3D space,allowing bioink to fully cover the skin wounds along the skin surface,which was beneficial for wound repair.In order to analyze the feasibility of the designed in situ skin printing system,the workspace of the parallel robot was calculated by numerical method,and the working range of the in situ skin printing system was obtained and verified through printing experiments.The experimental results showed that the parallel robot operated according to the specified path,and the print head could stably inject bioink during the printing process.The working range of the in situ skin printing system was basically consistent with the workspace of the parallel robot,which met the needs of repairing large-skin wounds.The research results lay a theoretical foundation for the subsequent animal experiments on large-skin repair.
repair of large-skin woundsin situ skin printing technologyparallel robotworkspace
国家科技期刊平台
NSTL
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