System and method for transferring tissue
A transfer device designed to extract an amorphous or semi-solid structure, tissue, or construct from supporting media while maintaining the spatial integrity/organizational architecture thereof. The transfer device can include a controller, an actuator assembly, a plunger, and a needle. The controller can move the transfer device and the plunger independently.
1. A bioprinting system, comprising:
a plurality of bioreactors, each having a tissue enclosure for receiving delivered tissue, the tissue enclosure including a plurality of control points, the tissue enclosure including production line mounting features;
a multi-axis, multi-dimensional robotic printer having a delivery device operably coupled with the printer, the delivery device delivering tissue to be printed to said tissue enclosure;
a controller controlling the motion of said robotic printer, said controller accessing a design and converting the design to coordinates that direct the robotic printer to print tissue into each tissue enclosure, the controller executing commands including:
accessing parameters associated with the design;
pathing of the design based on the parameters to producing coordinates of the design; and
transferring the coordinates from the controller to the robotic printer;
a motion controller within the robotic printer processing the coordinates including: converting coordinates to delivery points, an approach vector, an orientation vector, and at least one path;
choosing a robot figure for each path, based on a desired robot position and range of motion;
determining a translation data type based on the approach vector, the orientation vector, and the robot figure;
creating at least one motion command based on the translation data type and the delivery points; and printing the tissue into each tissue enclosure by commanding the printer based on the at least one motion command.
2. The bioprinting system of claim 1 , further comprising: a delivery device locating subsystem, including:
a mounting plate including kinematic positioning features; and each tissue enclosure being mounted at a pre-selected orientation, each tissue enclosure including kinematic mounting features complementary with the kinematic positioning features, the kinematic mounting features matably couplable with the kinematic positioning features, the mounting features and the positioning features forcing each tissue enclosure to be mounted at the pre-selected orientation and no other orientations.
3. The bioprinting system of claim 1 , wherein the motion controller comprises a sensor processor, a group processor, and a node processor, the group processor managing at least one group, the at least one group including at least one node, the at least one node associated with at least one actuator, the node processor managing the at least one actuator, the sensor processor managing at least one sensor hardware through at least one sensor driver, the sensor processor communicating the sensor data to the group processor and the node processor.
4. The bioprinting system of claim 3 , wherein the motion controller comprises at least one actuator driver driving the at least one actuator, at least one hardware driver driving the at least one hardware device, and an error processor tracking errors encountered by the motion controller.
5. The bioprinting system of claim 1 , the delivery device further comprising: bi-directional fluid control between the delivery device and each tissue enclosure.
6. The bioprinting system of claim 1 , the delivery device further comprising:
input means for a plurality of input materials; and
a mixing valve receiving the plurality of input materials, the mixing valve extruding a single stream of the input materials as the printed tissue.