Aseptic printer system including dual-arm mechanism

Abstract

A system and method are provided for fabricating 3D structures from biomaterial. The system includes a printer assembly having a dual-arm assembly including an upper arm, and a lower arm connected by an elbow joint to the upper arm. A disposable barrier encloses a printing surface from an external environment and from components of the printer assembly. The upper arm and lower arm are inserted into an inlet of the barrier, so as to be isolated from the print surface. The lower arm is provided with an extruding system, and the extruding system includes an actuator-driven syringe configured to deposit biomaterial on the print surface. The biomaterial is deposited on the print surface to carry out 3D fabrication in an aseptic environment.

1 .- 25 . (canceled) 
     
     
         26 . A printing system to fabricate one or more structures, the printer system comprising:
 a printer assembly comprising a first arm and a second arm, the first arm and the second arm being movable in the x-y plane;   a print surface at least partially surrounded by a disposable barrier; and   a stage on which the print surface is provided, the stage being movable in a z-axis direction, and the print surface being disposed to receive thereon biomaterial deposited by a deposition tip coupled to the printer assembly.   
     
     
         27 . The printing system of  claim 26 , further comprising:
 a valve configured to be actuated to supply the biomaterial to the deposition tip to fabricate the one or more structures.   
     
     
         28 . The printing system of  claim 26 , further comprising:
 a contact assembly proximate an end of the stage, the contact assembly being configured to detect a load of the deposition tip.   
     
     
         29 . The printing system of  claim 28 , further comprising:
 a transducer configured to detect a relative position of the deposition tip with respect to the stage.   
     
     
         30 . The printing system of  claim 26 , further comprising:
 an extruder, wherein the deposition tip is attached to an end of the extruder, the extruder having a plunger being operable to deliver the biomaterial to the deposition tip.   
     
     
         31 . The printing system of  claim 26 , wherein the print surface is disposed atop a disposable print bed. 
     
     
         32 . The printer system of  claim 27 , further comprising:
 a syringe, the valve being attached to the syringe at a first side of the syringe,   wherein the valve is disposed between the deposition tip and the syringe.   
     
     
         33 . The printer system of  claim 26 , wherein:
 the first arm is an upper arm configured to rotate around a first shaft;   the second arm is a lower arm configured to rotate around a second shaft; and   the lower arm is connected to the upper arm.   
     
     
         34 . The printer system of  claim 26 , wherein a height of the stage is adjustable. 
     
     
         35 . The printer system of  claim 26 , further comprising:
 a contact assembly comprising:
 a pad disposed on an elastic member, and 
 at least two contacts, 
   wherein, in response to detection of pressure on the pad, a circuit is established between the at least two contacts.