Automated devices, systems, and methods for the fabrication of tissue

Abstract

Described herein are improvements to bioprinting technology that facilitate automation of tissue and organ fabrication processes.

1 .- 20 . (canceled) 
     
     
         21 . A bioprinter comprising:
 (a) a printer head comprising at least one cartridge and at least one deposition orifice, the cartridge comprising contents from a bio-ink, a support material, or a combination thereof;   (b) a receiving surface for receiving the contents from the printer head;   (c) a three-dimensional calibration system comprising:
 (1) a tip triangulation sensor, fixed to the receiving surface, for determining a position of the deposition orifice, the tip triangulation sensor comprising a first laser and a first sensor configured to detect light from the first laser; 
 (2) a surface triangulation sensor, fixed to the printer head, for determining a position of a target print surface, the surface triangulation sensor comprising a second laser and a second sensor configured to detect light from the second laser; and 
   (d) a processor coupled to the three-dimensional calibration system and configured to:
 (1) calculate one or more print height changes during bioprinting based on (a) the position of the deposition orifice determined from the tip triangulation sensor and (b) the position of the target print surface determined from the surface triangulation sensor, the print height is a distance between the deposition orifice and the target print surface; and 
 (2) adjust for any print height changes during bioprinting by adjusting one or more bioprinting parameters. 
   
     
     
         22 . The bioprinter of  claim 21 , wherein the bioprinting parameters are selected from the group consisting of a deposition rate, a relative travel speed of the printer head, the print height, a cell type, a deposition order, a deposition location, and combinations thereof. 
     
     
         23 . The bioprinter of  claim 21 , wherein the print height changes are determined before, after, or before and after the contents are dispensed from the printer head. 
     
     
         24 . The bioprinter of  claim 21 , wherein the three-dimension calibration system is configured to dynamically map the target print surface during bioprinting, wherein a thickness of each track of deposited bio-ink is measured. 
     
     
         25 . The bioprinter of  claim 21 , wherein the three-dimensional calibration system is configured to monitor for any structural changes of a tissue construct during bio-printing. 
     
     
         26 . The bioprinter of  claim 21 , wherein the three-dimensional calibration system creates a topographical map of the receiving surface. 
     
     
         27 . The bioprinter of  claim 26 , wherein the receiving surface comprises an assay plate. 
     
     
         28 . The bioprinter of  claim 26 , wherein the receiving surface comprises a transwell insert. 
     
     
         29 . The bioprinter of  claim 27 , wherein the three-dimensional calibration system is configured to check for any plate positioning errors. 
     
     
         30 . The bioprinter of  claim 27 , wherein the three-dimensional calibration system is configured to determine a center of a well in the assay plate. 
     
     
         31 . The bioprinter of  claim 21 , wherein the three-dimensional calibration system creates a topographical map of the deposition orifice. 
     
     
         32 . The bioprinter of  claim 21 , wherein the printer head comprises an independent z-axis positioning mechanism configured to adjust, independently for each deposition orifice, a location of the deposition orifice relative to the receiving surface. 
     
     
         33 . The bioprinter of  claim 32 , wherein the independent z-axis positioning mechanism further comprises a brake mechanism to prevent the printer head from inadvertent contact with the receiving surface. 
     
     
         34 . The bioprinter of  claim 21 , wherein the printer head comprises at least two cartridges, wherein at least one cartridge comprises a capillary tube, and at least one cartridge comprises a needle. 
     
     
         35 . The bioprinter of  claim 34 , wherein the printer head comprises at least three cartridges, wherein at least one cartridge comprises a capillary tube, at least one cartridge comprises a needle, and at least one cartridge is configured for ink-jet printing. 
     
     
         36 . The bioprinter of  claim 21 , further comprising one or more coaxial nozzles, each coaxial nozzle has at least two independent inputs and at least two independent outputs. 
     
     
         37 . A method for automating a bioprinting process comprising:
 (a) varying a position of a tip triangulation sensor relative to a deposition orifice during a plurality of measurements to produce a first distance versus position data set, the tip triangulation sensor comprises a first laser and a first sensor configured to detect light from the first laser;   (b) calculating, based on the first distance versus position data set, a center X coordinate of the deposition orifice, a center Y coordinate of the deposition orifice, and an average deposition orifice height;   (c) varying a position of a surface triangulation sensor relative to a target print surface during a plurality of measurements to produce a second distance versus position data set, the surface triangulation sensor comprises a second laser and a second sensor configured to detect light from the second laser;   (d) constructing, based on the second distance versus position data set, one or more surface maps of the target print surface during bioprinting of a three-dimensional tissue construct; and   (e) adjusting, based on the first and the second distance versus position data sets, one or more bioprinting parameters to correct for any print height changes, the print height is a distance between the deposition orifice and the target print surface.   
     
     
         38 . The method of  claim 37 , wherein the bioprinting parameters are selected from the group consisting of a deposition rate, a relative travel speed of the printer head, the print height, a cell type, a deposition order, a deposition location, and combinations thereof. 
     
     
         39 . The method of  claim 37 , further comprising creating a topographical map of the receiving surface. 
     
     
         40 . The method of  claim 39 , wherein the receiving surface comprises an assay plate.