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浙江大学学报(工学版)
Journal of ZheJiang University (Engineering Science)  2023, Vol. 57 Issue (4): 643-656    DOI: 10.3785/j.issn.1008-973X.2023.04.001
    
Overview of methods for evaluating accuracy of bioink extrusion bioprinting
Ze-ning LIN(),Tao JIANG*(),Jian-zhong SHANG,Yun YANG,Yang HONG,Zi-rong LUO
College of Intelligence Science and Technology, National University of Defense Technology, Changsha 410073, China
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Abstract  

The principle of extrusion-based bioprinting with bioinks represented by hydrogels and the related mathematical model were introduced in order to improve the accuracy of extrusion-based 3D bioprinting structure. The factors affecting the printing accuracy were systematically analyzed in terms of structural design, bioink properties, bioprinting equipment and technological parameters, and the role of each parameter on the printing accuracy was summarized. The advantages and disadvantages of different methods were analyzed based on the dimensions of the parameters involved in the quantitative evaluation methods. Research ideas from simulation prediction, overcoming material mechanical behaviors and assisted printing were proposed, which provided references for the further development of the extrusion-based 3D bioprinting technology.

Key words： extrusion-based 3D bioprinting      printing accuracy      structure design      bioink property      process parameter      quantitative printing evaluation method     
Received: 28 August 2022      Published: 21 April 2023
CLC:  TH 164  
Fund:  国家自然科学基金资助项目（52105039）；湖南省研究生科研创新资助项目（CX20220027）；国防科技大学科研计划资助项目（ZK-19）；国防科技大学智能科学学院青年骨干教师资助项目（4142Z6G2）
Corresponding Authors: Tao JIANG     E-mail: linzening@nudt.edu.cn;jiangtao@nudt.edu.cn
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Ze-ning LIN
Tao JIANG
Jian-zhong SHANG
Yun YANG
Yang HONG
Zi-rong LUO
Cite this article:

Ze-ning LIN,Tao JIANG,Jian-zhong SHANG,Yun YANG,Yang HONG,Zi-rong LUO. Overview of methods for evaluating accuracy of bioink extrusion bioprinting. Journal of ZheJiang University (Engineering Science), 2023, 57(4): 643-656.

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https://www.zjujournals.com/eng/10.3785/j.issn.1008-973X.2023.04.001     OR     https://www.zjujournals.com/eng/Y2023/V57/I4/643


生物墨水挤出打印成型精度评价方法概述

为了推动挤压生物3D打印结构精度的提升，介绍了以水凝胶为代表的生物墨水挤压打印原理及相关数学模型. 针对打印精度的影响因素，从结构设计、生物墨水特性、打印设备及工艺参数三方面进行系统分析，总结各参数对打印精度的作用. 按照定量评价方法所涉及参数的维度归纳总结并分析不同方法的优缺点，从仿真预测、克服材料力学行为、辅助打印等方面提出研究思路，为后续挤压生物3D打印技术的进一步发展提供参考.


关键词： 挤压生物3D打印,  打印精度,  结构设计,  生物墨水特性,  工艺参数,  定量打印评价方法 
Fig.1 Progress of extrusion-based 3D bioprinting
Fig.2 Three extrusion-based 3D bioprinting technologies
工艺参数 具体参数 效果
材料流变特性 黏度、屈服应力等 剪切速率的增加使黏度降低，表明材料具有剪切变稀行为；屈服应力可以抵抗重力或表面张力的变形.
模型设计 结构尺寸或形状 结构尺寸过于精细或形状复杂，使打印难度增加，对材料、设备的要求更高.
挤压生物打印设备及打印参数 X、Y、Z轴精度 影响喷嘴的实际移动距离.
温度控制 影响温敏材料的流变特性.
喷嘴长度、内径等 同规格圆锥形喷嘴打印微丝的均匀性比圆柱形好，内径小的喷嘴打印出来的微丝更细.
喷嘴移动速度 速度过慢可能导致材料堆积，增加喷嘴速度可在一定程度提高微丝均匀性.
挤出速度 材料挤出速度快或慢可能使微丝过粗或难以挤出.
层厚 增加层厚将减少打印时间，但可能增加结构的粗糙程度.
微丝走向 45°与90°走向结构稳定性不同.
喷嘴尖端距离基底高度 打印高度过高时，对直角的打印容易出现滞后现象.
基底材料 较高刚度的基底难以维持一些低黏度材料或任意形状的结构（例如下窄上宽结构）
Tab.1 Effect and technological parameters of extrusion-based bioprinting
Fig.3 Rheological properties of bioinks
Fig.4 Test of different bioprinting parameters
Fig.5 Considerations for solid model structural design
Fig.6 Three-dimensional structures by fresh print
Fig.7 Test results of fluid simulation and machine learning
Fig.8 Single-dimensional quantitative evaluation method
Fig.9 Evaluation method based on area change
Fig.10 Evaluation method of double dimension collapse degree
维度 具体评价方法 优点 缺点 评价标准
一维 式（6） 直接判断微丝宽度是否符合理论宽度 未考虑微丝不同位置宽度存在的误差 精细度
式（7） 考虑微丝不同位置、宽度相对误差 未涉及微丝的精细程度，比如宽度 粗糙度
式（8） 同时考虑塌陷度与形状保真度 测量过程中最大弧度与微丝的宽度测量可能
存在较大的人工误差 		塌陷度与粗糙度
式（9） 用简单可行的方法判断塌陷程度 材料耗费较多，且未考虑粗糙度 塌陷度
二维 式（10） 综合考虑微丝宽度与塌陷情况 未考虑微丝的粗糙程度且消耗较多的材料 塌陷度与精细度
式（11） 综合考虑微丝宽度与塌陷情况 未考虑微丝的粗糙程度且消耗较多的材料 塌陷度与精细度
式（12） 综合考虑微丝2个方向的粗糙度与宽度 在可能存在宽度过大但均匀、宽度接近理论宽度但粗糙
这2种情况下得到的P相等 		粗糙度与精细度
式（13） 仅使用2层微丝即可判断塌陷程度 实际对角线位置的判断可能误差大 塌陷度
式（14） 仅使用1条微丝对塌陷程度进行判断 测量实际面积困难较大，易出现误差 塌陷度
三维 式（15） 测量整体结构的塌陷度与精细度 未考虑不同位置的粗糙度且材料耗费过多 精细度与塌陷度
Tab.2 Comparison of quantitative evaluation methods in different dimensions
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