Patent ID: 11926102
Assignee: ROKIT HEALTHCARE INC.
Field: Other special machines (Mechanical engineering)
Classification: CPC B  C  G | IPC B  C  G

Claim 0:
1. A method of controlling a three-dimensional (3D) bioprinter, having a printing chamber in which a first print module configured to output a solid-state biomaterial and a second print module including a syringe filled with a fluid-state biomaterial and configured to output the fluid-state biomaterial are provided, the method comprising:
a nozzle end aligning operation (S100) that includes an operation (a) in which a nozzle end alignment sensor is installed at a predetermined position on a bed in a printing chamber and a sensing point of the nozzle end alignment sensor is positioned at an origin position of the bed,
an operation (b) in which the bed is moved toward one side in an X-axis direction and the sensing point of the nozzle end alignment sensor is positioned under a nozzle of a first print module,
an operation (c) in which the first print module is moved downward and a Z value of a nozzle end of the first print module is measured,
an operation (d) in which the first print module is positioned at an original position and the bed is moved toward the other side in the X-axis direction to position the sensing point of the nozzle end alignment sensor under a syringe, which is disposed at a printing position, of a second print module,
an operation (e) in which the second print module is moved downward and a Z value of a nozzle end of the syringe, which is disposed at the printing position, of the second print module is measured, and
an operation (f) in which the second print module is positioned at an original position and the bed is positioned at an original position;
a printing plate installing operation (S200) in which the nozzle end alignment sensor is removed, a printing plate is installed on the bed, and the printing chamber is sealed;
a printing operation (S500) in which the first print module and the second print module are controlled to perform printing on the printing plate; and
before the printing operation (S500) is performed, performing a printing reference height correcting operation (S400) in which a reference height of the printing plate installed in the printing plate installing operation (S200) is corrected,
wherein the printing reference height correcting operation (S400) includes:
an operation in which an ultrasonic level sensor (710) installed in the printing chamber scans a bottom surface of the printing plate (201) to measure an actual height of the bottom surface of the printing plate (201),
an operation in which a profile of the measured actual height of the bottom surface of the printing plate (201) is compared with a preset printing reference height to calculate a leveling offset value, and
an operation in which the calculated leveling offset value is applied to correct the preset printing reference height.