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工程设计学报
Chinese Journal of Engineering Design  2024, Vol. 31 Issue (4): 529-537    DOI: 10.3785/j.issn.1006-754X.2024.03.202
Whole Machine and System Design     
Workspace analysis of in situ printing system for repairing large-skin wounds
Huixuan ZHU1,2,3,4(),Guangze CUI1,2,3,Bingnan LI2,3,Kai GUO2,3,Wei WANG1,Song LI2,3()
1.School of Mechanical Engineering, Shenyang University of Technology, Shenyang 110870, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
3.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China
4.University of Chinese Academy of Sciences, Beijing 100049, China
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Abstract  

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.

Key words： repair of large-skin wounds      in situ skin printing technology      parallel robot      workspace     
Received: 12 September 2023      Published: 26 August 2024
CLC:  TP 242.2  
Corresponding Authors: Song LI     E-mail: zhuhuixuan@sia.cn;lisong@sia.cn
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Huixuan ZHU
Guangze CUI
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Song LI
Cite this article:

Huixuan ZHU,Guangze CUI,Bingnan LI,Kai GUO,Wei WANG,Song LI. Workspace analysis of in situ printing system for repairing large-skin wounds. Chinese Journal of Engineering Design, 2024, 31(4): 529-537.

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https://www.zjujournals.com/gcsjxb/10.3785/j.issn.1006-754X.2024.03.202     OR     https://www.zjujournals.com/gcsjxb/Y2024/V31/I4/529


面向皮肤大面积损伤修复的原位打印系统工作空间分析

皮肤大面积损伤修复一直是临床上亟待解决的难题。目前，常用的修复方法主要为自体皮肤移植和伤口敷料治疗，但这些方法不能同时满足皮肤大面积修复和定制化治疗的需求。原位皮肤打印技术为皮肤大面积损伤修复提供了新思路，但现有的生物打印设备打印范围小且打印精度低，无法实现皮肤大面积组织的随形打印。为解决上述问题，提出了一种由Stewart并联机器人、直线模组机构、打印头和三维扫描仪等组成的原位皮肤打印系统。其中，Stewart并联机器人的重复定位精度高且累积误差小，其作为打印驱动装置可实现高精度的皮肤原位打印；Stewart并联机器人具有6个自由度，可在三维空间中实时调整打印角度，使得生物墨水能够沿皮肤曲面完整地覆盖在皮肤损伤处，有利于伤口修复。为分析所设计原位皮肤打印系统的可行性，通过数值法计算并联机器人的工作空间，得到了原位皮肤打印系统的工作范围，并通过打印实验进行了验证。实验结果表明，并联机器人可按照指定路径运行，打印头在打印过程中可稳定喷射生物墨水；原位皮肤打印系统的工作范围与并联机器人的工作空间基本吻合，可满足皮肤大面积损伤修复的需求。研究结果为后续的皮肤大面积修复动物实验奠定了理论基础。


关键词： 皮肤大面积损伤修复,  原位皮肤打印技术,  并联机器人,  工作空间 
Fig.1 Schematic of in situ skin printing system and its storage box
Fig.2 Structure diagram of Stewart parallel robot
Fig.3 Schematic of coordinate rotation transformation
Fig.4 Workspace of Stewart parallel robot
Fig.5 Simulation model of in situ skin printing system
Fig.6 Movement distance of print head centroid along X direction
Fig.7 In situ skin printing system prototype
Fig.8 Comparison of sodium alginate printing experiment results
Fig.9 Gelatin printing experiment result
Fig.10 Smooth muscle cell morphology
Fig.11 Cell printing experiment result
Fig.12 Distribution of smooth muscle cells after printing
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