Abstract: A 3D printing system based on multi-shaft linkage control and machine vision measurement having a frame, a work table, a printing apparatus, a material conveying mechanism, image capturing cameras, a driving mechanism and a control system. The work table is a six degree-of-freedom linkage platform which is connected with the frame; the driving mechanism is in form of a six-axis robot arm; the printing apparatus is connected to the six-axis robot arm. The present 3D printing system is capable of achieving precise control of the spatial position of the printing nozzles of the printing apparatus.

Abstract: A medical implant porous scaffold structure having low modulus, wherein said structure is formed by multiple basic units superposed sequentially along the three-dimensional directions in three-dimensional space, each of the basic units is composed of a quadrangular prism or hexagonal prism having central interconnected pores encircled by four or six side walls, each of the side walls is composed by a “X-type” frame structure formed by two crossed ribs, and the central interconnected pores of the adjacent basic units arranged along the axis direction of the quadrangular prism or the hexagonal prism are interconnected to each other.