Device for discharging fluid

Abstract

A fluid dispensing device according to exemplary embodiments of the present invention comprises: a dispensing unit capable of being equipped with a syringe for receiving fluid and configured to dispense the fluid contained in the syringe; and at least one processor for controlling the dispensing unit, wherein the at least one processor acquires shape information of a desired discharge and information of a syringe mounted on the dispensing unit, determines a dispensing profile based on the shape information of the discharge and the syringe information using a preset rule-based model, and controls the dispensing unit to dispense fluid according to the dispensing profile.

Description

Technology Field

[0001] The present invention relates to a fluid discharge device. Background Technology

[0002] In the bio and medical fields, research on 3D bioprinting for the production of artificial tissues and organs is being actively conducted. For example, using 3D bioprinting, tissues and organs can be fabricated by stacking living cells into a desired shape. The printing method of 3D bioprinting is the same as that of general 3D printing. However, the basic materials for 3D bioprinting are biocompatible polymers and biomaterials.

[0003] There are 3D bioprinting techniques such as the inkjet method, which prints by spraying material in small droplets; the micro-extrusion method, which pushes material with a viscosity of a certain level or higher using pneumatic pressure or a piston; and the photolithography method, which irradiates a light source onto the surface of a photocurable resin.

[0004] Meanwhile, as a form of 3D bioprinting, there are 3D bioprinting methods and devices that use syringes. Syringe-based 3D bioprinting methods allow for the use of various bio-inks and offer high convenience. However, when the user manually dispenses the fluid contained in the syringe, it is difficult to control the dispensing conditions (i.e., the dispensing profile, etc.), making it difficult to form the desired shape of the extruded object. Furthermore, in many cases, it is difficult to even determine the dispensing conditions required to form an extruded object with the desired shape.

[0005] For example, U.S. Patent Publication No. 2022 / 0402163 discloses a bioprinter in which a syringe is used and a method for controlling said bioprinter. According to said control method, bioprinting conditions can be set according to information input by a user. However, according to said control method, it is difficult to precisely control the ejection conditions and it is not possible to determine the ejection conditions for forming an ejected product having a desired shape, etc. Prior art literature

[0006] U.S. Patent Publication No. 2022 / 0402163 The problem to be solved

[0007] One objective of the present invention is to provide a fluid discharge device. means of solving the problem

[0008] A fluid dispensing device according to exemplary embodiments of the present invention comprises: a dispensing unit capable of being equipped with a syringe for receiving fluid and configured to dispense the fluid contained in the syringe; and at least one processor for controlling the dispensing unit, wherein the at least one processor acquires shape information of a desired discharge and information of a syringe mounted on the dispensing unit, determines a dispensing profile based on the shape information of the discharge and the syringe information using a preset rule-based model, and controls the dispensing unit to dispense fluid according to the dispensing profile.

[0009] In one embodiment, the shape information of the discharge includes the shape of the desired discharge; and the size of the desired discharge; and the size of the discharge may include at least one of the diameter of the desired discharge, the length of the desired discharge, the area of ​​the desired discharge, and the volume of the desired discharge.

[0010] In one embodiment, the syringe information may include at least one of the barrel capacity of the syringe, the barrel cross-sectional area of ​​the syringe, and the barrel inner diameter of the syringe.

[0011] In one embodiment, the discharge profile may include the movement speed of the plunger of the syringe and the movement time of the plunger of the syringe.

[0012] In one embodiment, the discharge profile may further include at least one of the rotational force or linear force of the motor of the discharge unit; the fluid discharge method; and the total fluid discharge amount.

[0013] In one embodiment, the discharge profile may further include at least one of the movement speed of the head of the discharge unit, the movement time of the head of the discharge unit, and the movement direction of the head of the discharge unit.

[0014] In one embodiment, the fluid includes a bio-ink, and the at least one processor further acquires fluid information including at least one of the type of medium of the bio-ink, the viscosity of the medium of the bio-ink, and the viscosity of the bio-ink, and can determine an ejection profile based on the shape information of the ejected product, the syringe information, and the fluid information using a preset rule-based model.

[0015] In one embodiment, the discharge profile may further include the temperature of the bio-ink.

[0016] In one embodiment, the at least one processor may further acquire nozzle information and, using a preset rule-based model, determine a discharge profile based on the shape information of the discharged product, the syringe information, and the nozzle information.

[0017] In one embodiment, the nozzle information may include at least one of the nozzle length, nozzle cross-sectional area, and nozzle inner diameter. Effects of the invention

[0018] According to exemplary embodiments of the present invention, a device may be provided in which a discharge profile is determined by information input by a user and a fluid contained in a syringe is discharged according to said discharge profile. For example, by utilizing shape information of the desired discharge product and information of the syringe mounted on the discharge unit included in the device, the velocity of the discharged fluid, the total amount of fluid discharged, etc., can be precisely controlled. Accordingly, user convenience is improved and the fluid (e.g., bio-ink, etc.) can be discharged efficiently. Brief explanation of the drawing

[0019] FIG. 1 shows a block diagram of a fluid discharge device according to one embodiment of the present invention. FIGS. 2 to 4 are flowcharts illustrating a process for discharging a fluid according to one embodiment of the present invention. Specific details for implementing the invention

[0020] The advantages and features of the present invention and the methods for achieving them will become clear by referring to the embodiments described below in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below but can be implemented in various different forms.

[0021] To clearly explain the embodiments of the present invention, parts unrelated to the description may be omitted. Additionally, in describing the embodiments of the present invention, if it is determined that a detailed description of related known components or functions could obscure the essence or description of the present invention, such detailed description may be omitted.

[0022] In this specification, the terms “…part,” “…unit,” and “…module” may refer to a unit that processes at least one function or operation. The “…part,” “…unit,” and “…module” may be implemented in hardware, software, or a combination of hardware and software.

[0023] The classification of components in this specification is merely based on the primary function each component is responsible for. That is, two or more components may be combined into a single component, or a single component may be divided into two or more components based on more subdivided functions. Additionally, each component may perform some or all of the functions of other components in addition to its primary function, and some of the primary functions of each component may be exclusively performed by other components.

[0024] In describing the components in this specification, terms such as "first," "second," etc., may be used. These terms are intended for convenience of explanation to distinguish one component from another, and unless otherwise specifically stated, the nature, order, etc., of the components are not limited by these terms.

[0025] In each step mentioned in this specification, the steps may proceed differently from the specified order unless the context clearly indicates a specific order. That is, the steps may be performed in the same order as specified, substantially simultaneously, or in the reverse order.

[0026] In this specification, "and / or" may mean each of the listed components and a combination of two or more of the components. For example, "A, B and / or C" may be used with the same meaning as "at least one of A, B and C."

[0027] In this specification, the meaning of "may include a, b, c, etc." may be a concept that includes the meaning of "may include at least one of a, b, and c."

[0028] In this specification, "predetermined" may be a concept encompassing "pre-configured." For example, "pre-configured" may be performed by a provider, manager, operator, etc. of a device, system, or service.

[0029] FIG. 1 shows a block diagram of a fluid discharge device (10) according to one embodiment of the present invention.

[0030] The fluid discharge device (10) may be a device that discharges fluid as a user inputs discharge-related information (e.g., shape information of the desired discharge, such as the shape of the desired discharge, the length, area, and volume of the desired discharge; syringe information, such as the barrel capacity, the cross-sectional area of ​​the syringe, and the inner diameter of the syringe; fluid information, such as the type of bio-ink medium, the viscosity of the bio-ink medium, and the viscosity of the bio-ink; nozzle information, such as the nozzle length, the cross-sectional area of ​​the nozzle, and the inner diameter of the nozzle; etc.). In one example, the fluid discharge device (10) may be a device for a user who wishes to discharge a fluid of a desired shape.

[0031] Referring to FIG. 1, the fluid discharge device (10) may include a control unit (100), a communication unit (200), a storage unit (300), a sensor unit (400), an input unit (500), and a discharge unit (600).

[0032] The control unit (100) can control the overall function and operation of the fluid discharge device (10). The control unit (100) can control the components of the fluid discharge device (10), for example, a communication unit (200), a storage unit (300), a sensor unit (400), an input unit (500), a discharge unit (600), and at least one other component. That is, the control unit (100) can provide information or data necessary for the operation of the components of the fluid discharge device (10) and can perform calculations based on the information or data generated or managed by the components. For example, the control unit (100) may include at least one processor, at least one circuit, etc. The at least one processor may include at least one of a central processing unit (CPU), a graphics processing unit (GPU), and a neural network processing unit (NPU). The control unit (100) can perform the necessary control to operate the fluid discharge device (10) according to various embodiments described in this specification. For example, the control unit (100) can control the operation of the fluid discharge device (10) by executing software, programs, or commands stored in the storage unit (300).

[0033] The communication unit (200) can perform the function of transmitting and receiving signals with other devices. The communication unit (200) performs wired communication or wireless communication and can process signals according to the control of the control unit (100). The communication unit (200) may include at least one network interface. For example, the communication unit (200) may include an RF circuit, an antenna, etc. for wireless communication, or a connection terminal, a modem, a driver module, etc. for wired communication. For example, the communication unit (200) may support at least one of various communication protocols, such as cellular communication like LTE or 5G, short-range wireless communication like WiFi or Bluetooth, and short-range wired communication like Ethernet.

[0034] The storage unit (300) can store data used in the fluid discharge device (10), software, programs, and commands for the operation of the fluid discharge device (10). Additionally, the storage unit (300) can provide stored data under the control of the control unit (100). Additionally, the storage unit (300) can store applications, drivers, etc. to be driven by the control unit (100). For example, the storage unit (300) can store an algorithm for determining a discharge profile from discharge-related information. For example, the storage unit (300) can store a rule-based model for determining a discharge profile. For example, the storage unit (300) can store an artificial intelligence model for determining a discharge profile. The storage unit (300) may include at least one memory. For example, the storage unit (300) may include RAM such as DRAM, SRAM, etc.; ROM; EEPROM; HDD; SSD; flash storage means, etc.

[0035] The sensor unit (400) may include at least one sensor that collects predetermined data regarding the discharge unit (600) while the discharge unit (600) discharges fluid. For example, the sensor unit (400) may include a pressure sensor, a distance sensor, a position sensor, a voltage sensor, a current sensor, a temperature sensor, etc. The sensor unit (400) may detect whether the discharge unit (600) operates in accordance with the control of the control unit (100). For example, the sensor unit (400) may include an encoder. The encoder may include a linear encoder, a rotary encoder, etc. For example, the sensor unit (400) may include a first encoder for measuring a change in the position of the plunger of the syringe and a second encoder for measuring a change in the position of the head. For example, the sensor unit (400) may include a pressure sensor for measuring the pressure of the plunger flange, a voltage sensor for measuring the voltage applied to the motor, a current sensor for measuring the current flowing through the motor, a temperature sensor for measuring the temperature of the syringe, etc. The sensor unit (400) may also include additional sensors other than the aforementioned sensors as needed.

[0036] The input unit (500) can obtain input from a user, etc. The input unit (500) can transmit the obtained input to a control unit (100), etc. For example, the input unit (500) may include a button, a screen touch sensor, a keyboard, a mouse, a touch screen, a touch pad, a voice recognition sensor, etc.

[0037] The discharge unit (600) can discharge fluid according to a discharge profile. The discharge unit (600) may include a head, a fluid reservoir, and a discharge drive unit. Fluid is discharged from the head, and for example, the head may include a nozzle, a syringe needle, etc. The fluid reservoir receives fluid, and for example, the fluid reservoir may include a syringe, a cartridge, a tube, etc. The fluid reservoir may be a syringe. For example, the discharge unit (600) may be equipped with a syringe that receives fluid and may discharge the fluid contained in the syringe. The syringe includes a barrel and a plunger, and the plunger may include a plunger flange and a plunger rod. The discharge drive unit generates and transmits the force required to discharge fluid, and for example, the discharge drive unit may include a motor, a lead screw, a push rod, etc. For example, the motor may be a rotary motor or a linear motor. As an example, the discharge unit (600) may include a nozzle, a syringe, and a motor.

[0038] The discharge unit (600) may further include a head movement drive unit as needed. The head movement drive unit may move the head to change the position where the fluid is discharged. However, if a user or the like moves the head directly, the head movement drive unit may not be included in the discharge unit (600). The head movement drive unit may include a motor (e.g., a rotary motor or a linear motor), a lead screw, a push rod, etc. (provided that the motor included in the head movement drive unit is distinguished from the motor included in the discharge drive unit).

[0039] The discharge unit (600) may further include a temperature control unit as needed. The temperature control unit may control the temperature of the fluid. For example, if the fluid is bio-ink, the temperature control unit may control the temperature of the bio-ink. For example, the temperature control unit may include a refrigerant, an ice pack, a motor, etc. The temperature control unit may exchange heat by facing or in contact with the fluid storage unit (e.g., a syringe), and may be spaced apart from the fluid storage unit when heat exchange is not required. A motor included in the temperature control unit may move the temperature control unit.

[0040] The fluid discharge device (10) may include a plurality of discharge units (600). Each of the plurality of discharge units (600) includes a head, a fluid storage unit, and a discharge drive unit, and may further include at least one of a head movement drive unit and a temperature control unit as needed.

[0041] Although not shown in FIG. 1, the fluid discharge device (10) may further include at least one of a power supply device (e.g., battery, power supply, etc.), a display device (e.g., display, etc.), and an output device, depending on the type of the fluid discharge device (10).

[0042] FIGS. 2 to 4 are flowcharts illustrating a process for discharging fluid according to an embodiment of the present invention. FIGS. 2 to 4 may illustrate operations performed by a fluid discharge device (10).

[0043] Referring to FIG. 2, the fluid discharge device (10) can obtain shape information of the desired discharge and syringe information mounted on the discharge unit (600) (e.g., S201). For example, the shape information of the discharge and the syringe information are information regarding factors affecting fluid discharge, which can be specified by a user, etc.

[0044] The fluid dispensing device (10) may receive dispensing-related information (e.g., shape information of the discharged substance, syringe information, etc.) from a user, etc. For example, the input unit (500) may acquire dispensing-related information from a user, etc. and transmit the acquired dispensing-related information to the control unit (100). In one example, the fluid dispensing device (10) may provide an interface (e.g., user interface, etc.) for inputting dispensing-related information to a user, etc., and may receive dispensing-related information through the interface. A part of the interface may form a part of the input unit (500). For example, a touch screen included in the interface may form at least a part of the input unit (500).

[0045] In some embodiments, the shape information of the desired discharge may include the shape of the desired discharge; and the size of the desired discharge. The size of the discharge may include at least one of the diameter of the desired discharge, the length of the desired discharge, the area of ​​the desired discharge, and the volume of the desired discharge. For example, the desired discharge may refer to a final object desired by a user, etc. (i.e., a result obtained by the fluid discharge device (10) discharging fluid according to the user's purpose).

[0046] For example, the shape of the desired extruded product may refer to the shape of the final product desired by the user, etc. For example, the shape of the extruded product may include categorical data. For example, the categories may include spheres, tubes, lines, layers, meshes, filaments, points, patterns, line shapes with a multilayer structure, spherical shapes with a core-shell structure, line shapes with a core-shell structure, and the like.

[0047] For example, the diameter of the desired discharge may include the diameter of a sphere; the inner diameter and outer diameter of a pipe; the diameter of a layer, etc. For example, the diameter of the discharge may include continuous or categorical data. For example, the categories may include D1 or less, greater than D1 and less than or equal to D2, greater than D2, etc. (wherein D1 and D2 are natural numbers or positive numbers and may be pre-set).

[0048] The length of the desired discharge may include, for example, the length of a pipe; the length of a line; the length of a mesh; the length of a filament; the length of a layer, the height, etc., depending on the shape of the desired discharge. For example, depending on the shape of the discharge, the length of the discharge may be entered in multiple ways. For example, if the shape of the discharge is a layer, the fluid discharge device (10) may receive at least one of width, width, and height. For example, the length of the discharge may include continuous or categorical data. For example, categories may include L1 or less, greater than L1 and less than or equal to L2, greater than L2, etc. (wherein L1 and L2 are natural numbers or positive numbers and may be pre-set) (however, if the length of the discharge is multiple, for example, the width and width of the layer are input, categories may include L3 or less, greater than L3 and less than or equal to L4, greater than L4; L5 or less, greater than L5 and less than or equal to L6, greater than L6, etc., and L3 to L6 are natural numbers or positive numbers and may be pre-set).

[0049] For example, the area of ​​the desired discharge may be used as shape information of the discharge when the shape of the discharge is a sphere, tube, layer, etc. For example, depending on the shape of the desired discharge, the area of ​​the discharge may include, for example, the surface area of ​​a sphere, the cross-sectional area of ​​a tube, the area of ​​a layer, etc. For example, the area of ​​the discharge may include continuous or categorical data. For example, the categories may include A1 or less, greater than A1 and less than or equal to A2, greater than A2, etc. (provided that A1 and A2 are natural numbers or positive numbers and may be pre-set).

[0050] For example, the volume of the desired discharge may refer to the physical volume of the desired discharge. The volume of the discharge may be used as shape information of the discharge when the shape of the discharge is a sphere, tube, layer, etc. For example, the volume of the discharge may include continuous or categorical data. For example, categories may include V1 or less, greater than V1 and less than or equal to V2, greater than V2, etc. (wherein V1 and V2 are natural numbers or positive numbers and may be pre-set).

[0051] In some embodiments, syringe information mounted on the dispensing unit (600) may include at least one or two of the barrel capacity of the syringe, the barrel cross-sectional area of ​​the syringe, and the barrel inner diameter of the syringe. For example, the syringe information may include the barrel capacity of the syringe and, if necessary, further include at least one of the barrel cross-sectional area of ​​the syringe and the barrel inner diameter of the syringe.

[0052] The discharge unit (600) may include a syringe that is a fluid storage unit. For example, the discharge unit (600) may be equipped with a syringe that receives fluid and discharge said fluid. The syringe may receive fluid in a barrel, and as the plunger moves forward (i.e., in the direction of the syringe needle or nozzle) due to pressure applied to the plunger flange (e.g., originating from a motor), the fluid may be discharged (i.e., the fluid moves from the barrel of the syringe to the head of the discharge unit (600) (e.g., a nozzle, etc.), and the fluid is discharged from said head).

[0053] For example, the barrel cross-sectional area and the barrel inner diameter of the syringe may be standardized according to the barrel capacity of the syringe mounted on the discharge unit (600). For example, the barrel capacity of the syringe may include continuous or categorical data. For example, the categories may include BV1 or less, greater than BV1 and less than BV2, greater than BV2, etc. (wherein BV1 and BV2 may be natural numbers or positive numbers and may be pre-set).

[0054] For example, the barrel cross-sectional area of ​​a syringe mounted on a discharge unit (600) can affect the flow rate of the fluid (i.e., flow rate = cross-sectional area × flow velocity). For example, the barrel cross-sectional area of ​​the syringe may include continuous or categorical data. For example, the categories may include BA1 or less, greater than BA1 and less than BA2, greater than BA2, etc. (wherein BA1 and BA2 are natural numbers or positive numbers and may be pre-set).

[0055] For example, the inner diameter of the barrel of the syringe mounted on the discharge unit (600) affects the resistance of the fluid (i.e., the smaller the inner diameter, the greater the resistance), and the cross-sectional area of ​​the barrel of the syringe can be calculated using the inner diameter of the syringe (i.e., cross-sectional area = π × (inner diameter / 2) 2). For example, the inner diameter of the barrel of the syringe may include continuous or categorical data. For example, categories may include BID1 or less, greater than BID1 and less than or equal to BID2, greater than BID2, etc. (provided that BID1 and BID2 are natural numbers or positive numbers and may be pre-set).

[0056] For example, when the barrel capacity of the syringe mounted on the dispensing unit (600) is 1 mL, the inner diameter of the syringe barrel is approximately 4.7 mm and the cross-sectional area of ​​the syringe barrel is approximately 17.3 mm 2 It may be. When a syringe with a barrel capacity of 1 mL is used, the fluid dispensing device (10) can control the flow rate to a range of 20 µL / s to 50 µL / s. As another example, when the syringe has a barrel capacity of 3 mL, the inner diameter of the barrel is about 8.6 mm and the cross-sectional area of ​​the barrel is about 58.1 mm 2 It may be. When a syringe with a barrel capacity of 3 mL is used, the fluid dispensing device (10) can adjust the flow rate to a range of 100 µl / s to 165 µl / s. For example, when there are multiple syringes mounted on the dispensing unit (600), the fluid dispensing device (10) can acquire syringe information regarding each syringe together.

[0057] The fluid discharge device (10) can determine a discharge profile based on shape information of the target discharge and syringe information mounted on the discharge unit (600) using a preset rule-based model (e.g., S202). For example, the discharge profile can be used as information for fluid discharge control.

[0058] In some embodiments, the discharge profile may include the travel speed of the plunger of the syringe mounted on the discharge unit (600) and the travel time of the plunger of the syringe mounted on the discharge unit (600).

[0059] For example, under the control of the control unit (100), the discharge drive unit can push the plunger of the syringe forward to discharge the fluid contained in the barrel of the syringe, and accordingly, the plunger of the syringe can move. At this time, the speed at which the plunger moves can be defined as the speed of movement of the plunger of the syringe mounted on the discharge unit (600). The sensor unit (400) can measure the distance traveled by the plunger of the syringe and transmit the measurement result to the control unit (100). The control unit (100) can calculate the speed of movement of the plunger of the syringe based on the measurement result. For example, a first encoder included in the sensor unit (400) measures the change in position of the plunger, and the control unit (100) can calculate the speed of movement of the plunger of the syringe using the measurement result (i.e., distance) and time difference received from the first encoder. The control unit (100) controls the dispensing unit (600) based on the calculated movement speed of the syringe plunger and can adjust the movement speed of the syringe plunger. For example, if the calculated movement speed of the syringe plunger is lower than a set value (i.e., a value determined using a preset rule-based model), the control unit (100) can increase the current flowing through the motor (i.e., increase the voltage applied to the motor) to increase the pressure applied to the plunger flange and increase the movement speed of the syringe plunger. For example, the movement speed of the syringe plunger may include continuous or categorical data. For example, the categories may include FV1 or less, greater than FV1 or less than FV2, greater than FV2, etc. (wherein FV1 and FV2 are natural numbers or positive numbers and may be preset).

[0060] For example, the travel time of the plunger of the syringe mounted on the discharge unit (600) may refer to the time taken for the plunger of the syringe to move forward to discharge fluid. For example, the travel time of the plunger of the syringe may include the total travel time of the plunger of the syringe. As described above, when the travel speed of the plunger of the syringe is calculated, the control unit (100) can measure the time difference when the plunger position changes. That is, the control unit (100) can measure the travel time of the plunger of the syringe and control the discharge unit (600) based on the measured travel time of the plunger of the syringe. For example, if the calculated travel time of the plunger of the syringe is lower than a set value (i.e., a value determined using a preset rule-based model), the control unit (100) can continue to apply voltage to the motor to move the plunger forward (i.e., move the plunger until the travel time of the plunger of the syringe reaches the set value). For example, the travel time of a syringe plunger may include continuous or categorical data. For example, categories may include FMT1 or less, greater than FMT1 or less than FMT2, greater than FMT2, etc. (wherein FMT1 and FMT2 may be natural numbers or positive numbers and may be pre-set).

[0061] In some embodiments, the discharge profile may further include at least one or two of the rotational force or linear force of the motor of the discharge unit (600); a fluid discharge method; and a total fluid discharge amount. For example, the discharge profile may further include a total fluid discharge amount and, if necessary, further include at least one of the rotational force or linear force of the motor; and a fluid discharge method.

[0062] Depending on the type of motor (e.g., rotary motor, linear motor) included in the discharge unit (600) (i.e., discharge drive unit), the fluid discharge device (10) can determine the rotational force of the motor or the linear force of the motor.

[0063] For example, the rotational force of the motor of the discharge unit (600) may refer to the force generated by the rotary motor. As described above, the rotational force of the motor generated by the rotary motor is converted into a linear force and then acts as pressure applied to the plunger flange to push the plunger forward. A torque sensor or current sensor included in the sensor unit (400) can measure the rotational force of the motor and transmit the measurement result to the control unit (100). The control unit (100) can control the discharge unit (600) based on the received rotational force of the motor and adjust the rotational force of the motor. For example, if the transmitted rotational force of the motor is lower than a set value (i.e., a value determined using a preset rule-based model), the control unit (100) can increase the rotational force of the motor by increasing the current flowing through the rotary motor (i.e., increasing the voltage applied to the rotary motor). For example, the rotational force of the motor may include continuous or categorical data. For example, categories may include MT1 or less, greater than MT1 and MT2 or less, greater than MT2, etc. (wherein MT1 and MT2 are natural numbers or positive numbers and may be pre-set).

[0064] For example, the linear force of the motor of the discharge unit (600) may refer to the force generated by the linear motor. As described above, the linear force generated by the linear motor acts as pressure applied to the plunger flange, thereby pushing the plunger forward. A force sensor or pressure sensor included in the sensor unit (400) can measure the linear force of the motor and transmit the measurement result to the control unit (100). The control unit (100) can control the discharge unit (600) based on the received linear force of the motor and adjust the linear force of the motor. For example, if the transmitted linear force of the motor is lower than a set value (i.e., a value determined using a preset rule-based model), the control unit (100) can increase the linear force of the motor by increasing the current flowing through the linear motor (i.e., increasing the voltage applied to the linear motor). For example, the linear force of the motor may include continuous or categorical data. For example, categories may include MLF1 or less, greater than MLF1 and less than MLF2, greater than MLF2, etc. (wherein MLF1 and MLF2 are natural numbers or positive numbers and may be pre-set).

[0065] For example, the fluid discharge method may mean that the fluid discharge is continuous or discontinuous. If the fluid discharge is continuous, the velocity of the discharged fluid, the movement speed of the syringe plunger, etc., may be maintained at a constant or change. If the fluid discharge is discontinuous, the fluid discharge may be stopped midway and then resumed (for example, the head may be moved while the fluid discharge is stopped). As described above, the sensor unit (400) measures the position change of the plunger, and the control unit (100) can calculate and adjust the movement speed of the syringe plunger. The voltage sensor and the current sensor included in the sensor unit (400) measure the voltage applied to the motor and the current flowing through the motor, respectively, and the sensor unit (400) can transmit the measurement results to the control unit (100). The control unit (100) can stop the fluid discharge by stopping the application of voltage to the motor and can resume the fluid discharge by reapplying voltage to the motor. For example, a fluid discharge method may include categorical data. For example, the categories may be continuous or discontinuous.

[0066] For example, the total fluid discharge amount may refer to the amount of fluid discharged. The total fluid discharge amount may be determined by the movement speed of the plunger of the syringe mounted on the discharge unit (600) and the movement time of the plunger of the syringe. For example, the total fluid discharge amount may be the total amount of fluid discharged from the head (e.g., nozzle, etc.) according to the movement speed of the plunger and the movement time of the plunger. As described above, the control unit (100) can calculate the movement speed of the plunger of the syringe, measure the movement time of the plunger of the syringe, and obtain syringe information (e.g., the barrel capacity of the syringe, the cross-sectional area of ​​the syringe barrel, the inner diameter of the syringe barrel). Accordingly, the control unit (100) can determine the total fluid discharge amount based on the movement speed of the plunger of the syringe, the movement time of the plunger of the syringe, and the syringe information. For example, the total fluid discharge amount may include continuous or categorical data. For example, categories may include TA1 or less, greater than TA1 and less than TA2, greater than TA2, etc. (provided that TA1 and TA2 are natural numbers or positive numbers and may be pre-set).

[0067] In some embodiments, the discharge profile may further include the plunger flange pressure of a syringe mounted on the discharge unit (600). For example, the plunger flange pressure of the syringe may refer to the pressure applied to the plunger flange to move the plunger forward. A linear motor applies pressure directly to the plunger flange (i.e., linear force), and the rotational force (torque) of a rotary motor may be converted into a linear force by a lead screw, etc., and transmitted to the plunger flange through a push rod. A sensor unit (400) may measure the plunger flange pressure of the syringe and transmit the measurement result to a control unit (100). For example, a pressure sensor included in the sensor unit (400) may measure the plunger flange pressure of the syringe. The control unit (100) may control the discharge unit (600) based on the received plunger flange pressure of the syringe and adjust the plunger flange pressure of the syringe. For example, if the pressure of the plunger flange of the syringe is lower than a set value (i.e., a value determined using a preset rule-based model), the control unit (100) can increase the current flowing to the motor (i.e., increase the voltage applied to the motor) to increase the pressure applied to the plunger flange. For example, the pressure of the plunger flange of the syringe may include continuous or categorical data. For example, the categories may include FFP1 or less, greater than FFP1 or less than FFP2, greater than FFP2, etc. (wherein FFP1 and FFP2 are natural numbers or positive numbers and may be preset).

[0068] In some embodiments, the discharge profile may further include at least one or two of the movement speed of the head of the discharge unit (600), the movement time of the head of the discharge unit (600), and the movement direction of the head of the discharge unit (600). For example, the discharge profile may further include the movement speed of the head of the discharge unit (600) and the movement time of the head of the discharge unit (600), and, if necessary, may further include the movement direction of the head of the discharge unit (600). If the discharge unit (600) includes a head movement drive unit, the fluid discharge device (10) may determine at least one of the movement speed of the head of the discharge unit (600), the movement time of the head of the discharge unit (600), and the movement direction of the head of the discharge unit (600).

[0069] For example, the movement speed of the head of the discharge unit (600) may refer to the speed at which the head moves to change the position where the fluid is discharged. The sensor unit (400) may measure the distance traveled by the head and transmit the measurement result to the control unit (100). The control unit (100) may calculate the movement speed of the head based on the measurement result. For example, a second encoder included in the sensor unit (400) measures the change in the position of the head, and the control unit (100) may calculate the movement speed of the head using the measurement result (i.e., distance) and time difference received from the second encoder. The control unit (100) may control the discharge unit (600) based on the calculated movement speed of the head and adjust the movement speed of the head. For example, if the calculated head movement speed is lower than a set value (i.e., a value determined using a preset rule-based model), the control unit (100) can increase the head movement speed by increasing the current flowing through the motor included in the head movement drive unit (except for the motor included in the discharge drive unit). For example, the head movement speed may include continuous or categorical data. For example, the categories may include HV1 or less, greater than HV1 or less than HV2, greater than HV2, etc. (wherein HV1 and HV2 may be natural numbers or positive numbers and may be preset).

[0070] For example, the movement time of the head of the discharge unit (600) may refer to the time taken for the head to move to change the position where the fluid is discharged. For example, the movement time of the head may include the total movement time of the head. As described above, when the movement speed of the head is calculated, the control unit (100) may measure the time difference when the head position changes. That is, the control unit (100) may measure the movement time of the head and control the discharge unit (600) based on the measured movement time of the head. For example, if the measured movement time of the head is lower than a set value (i.e., a value determined using a preset rule-based model), the control unit (100) may continue to apply voltage to the motor included in the head movement drive unit to move the head (i.e., move the head until the movement time of the head reaches the set value). For example, the movement time of the head may include continuous or categorical data. For example, categories may include HMT1 or less, greater than HMT1 and less than HMT2, greater than HMT2, etc. (wherein HMT1 and HMT2 are natural numbers or positive numbers and may be pre-set).

[0071] For example, the direction of movement of the head of the discharge unit (600) may refer to the direction in which the head moves to change the position where the fluid is discharged. The head movement drive unit can move the head in the XYZ direction. The sensor unit (400) can detect the direction of movement of the head (e.g., a unit vector of the X direction, Y direction, and Z direction) and transmit the detection result to the control unit (100). For example, a second encoder included in the sensor unit (400) can detect the direction of movement of the head. The control unit (100) can control the discharge unit (600) based on the received direction of movement of the head (i.e., the detection result) and adjust the direction of movement of the head. For example, if the transmitted direction of movement of the head is different from a set value (i.e., a value determined using a preset rule-based model), the control unit (100) can change the direction of movement of the head by changing the rotation direction or the direction of movement of the motor included in the head movement drive unit. For example, the direction of movement of the head (i.e., each component representing the X, Y, and Z directions in the unit vector) may include continuous or categorical data. For example, categories may include HMD1 or less, greater than HMD1 and less than HMD2, greater than HMD2 (X direction); HMD3 or less, greater than HMD3 and less than HMD4, greater than HMD4 (Y direction); HMD5 or less, greater than HMD5 and less than HMD6, greater than HMD6 (Z direction), etc. (wherein HMD1 to HMD6 are integers and may be pre-set).

[0072] In some embodiments, at step S202, a discharge profile can be determined based on shape information of the desired discharge and syringe information mounted on the discharge unit (600) using a preset rule-based model. For example, the fluid discharge device (10) can query a preset discharge profile for the acquired shape information of the discharge and syringe information. For example, to distinguish it from the preset rule-based models of steps S303 and S403, the preset rule-based model of step S202 may be referred to as a first preset rule-based model.

[0073] In one embodiment, the fluid discharge device (10) can determine a discharge profile using a preset rule-based model. For example, the rule may include a combination of shape information of the desired discharge and syringe information mounted on the discharge unit (600), and a mapping result of the discharge profile for said combination. That is, said shape information of the discharge and said syringe information are used as keys, and a discharge profile, which is a value retrieved by the rule, can be determined. For example, the rule-based model may include a lookup table in which said shape information of the discharge and said syringe information are matched with the discharge profile, and may receive said shape information of the discharge and said syringe information as inputs and output a discharge profile.

[0074] For example, if the fluid discharge device (10) includes a plurality of discharge units (600), the fluid discharge device (10) can obtain a discharge profile for each of the plurality of discharge units (600) by inputting discharge-related information (shape information of the discharged product and syringe information, etc.) for each of the plurality of discharge units (600) into a rule-based model. For example, the rule-based model may be a lookup table.

[0075] For example, the fluid dispensing device (10) can determine a dispensing profile based on shape information of the target dispensing material and syringe information mounted on the dispensing unit (600) using a trained artificial intelligence model. For example, the fluid dispensing device (10) can preprocess the acquired shape information of the dispensing material and the syringe information. For example, preprocessing may include vectorization, standardization, normalization, etc. The trained artificial intelligence model may include a regression model or a classification model depending on the type of dispensing profile. The trained artificial intelligence model may be a model trained to predict the dispensing profile based on the shape information of the dispensing material and the syringe information. For example, the trained artificial intelligence model may be trained using the shape information of the dispensing material and the syringe information, in which the dispensing profile is labeled, as a training data set. For example, the trained artificial intelligence model may be constructed by fine-tuning a known artificial intelligence model as a backbone. For example, a trained artificial intelligence model can output a predicted value for an ejection profile using feature information generated based on the shape information of the ejected substance and the syringe information, a classification layer (e.g., a fully connected layer, etc.), an activation function (e.g., a sigmoid function, etc.). The ejection profile can be determined based on the predicted value.

[0076] In some embodiments, a plurality of discharge units (600) may be provided. A fluid discharge device (10) may include a plurality of discharge units (600). Each of the plurality of discharge units (600) may include a fluid storage unit and a discharge driving unit. A control unit (100) may control the plurality of discharge units (600). For example, the control unit (100) may control the plurality of discharge units (600) independently.

[0077] The fluid discharge device (10) can obtain shape information of the desired discharge product and syringe information (i.e., information on multiple syringes) mounted on each of the multiple discharge units (600). The fluid discharge device (10) can determine multiple discharge profiles corresponding to each of the multiple discharge units (600) together.

[0078] In one embodiment, the shape information of the desired discharge may include a multi-shape and a normal shape. The multi-shape may include a multi-layer shape including a first layer and a second layer (e.g., a linear shape of a multi-layer structure), a core-shell shape including a core and at least one shell covering the core (e.g., a spherical shape, a linear shape having a core-shell structure), etc.

[0079] In one example, when the shape of the discharge is a linear shape of a multilayer structure, the first discharge unit may form the first layer and the second discharge unit may form the second layer. The fluid discharge device (10) may obtain the first layer formed by the first discharge unit and the second layer formed by the second discharge unit as the shape of the desired discharge, and may obtain first syringe information mounted on the first discharge unit (i.e., related to the formation of the first layer) and second syringe information mounted on the second discharge unit (i.e., related to the formation of the second layer). The fluid discharge device (10) may obtain the diameter and length of the first layer formed by the first discharge unit; the diameter and length of the second layer formed by the second discharge unit, etc., as the size of the desired discharge. In one example, the fluid dispensing device (10) can determine a first dispensing profile using a rule-based model based on dispensing-related information for a first dispensing unit (e.g., a first layer, the diameter and length of the first layer, first syringe information, etc.). In one example, the fluid dispensing device (10) can determine a second dispensing profile using a rule-based model based on dispensing-related information for a second dispensing unit (e.g., a second layer, the diameter and length of the second layer, second syringe information, etc.). The control unit (100) can independently control the first dispensing unit and the second dispensing unit. The fluid dispensing device (10) can determine a first dispensing profile for controlling the first dispensing unit and a second dispensing profile for controlling the first dispensing unit.

[0080] In one example, if the shape of the discharge is a spherical shape having a core-shell structure, the first discharge unit may form the shell first, and then the second discharge unit may insert the core structure into the shell. The fluid discharge device (10) may obtain the shell formed by the first discharge unit and the core formed by the second discharge unit as the shape of the desired discharge, and may obtain first syringe information mounted on the first discharge unit (i.e., related to shell formation) and second syringe information mounted on the second discharge unit (i.e., related to core formation). The fluid discharge device (10) may obtain the thickness of the shell formed by the first discharge unit, the diameter of the core (i.e., corresponding to a sphere) formed by the second discharge unit, etc., as the size of the desired discharge. In one example, the fluid dispensing device (10) can determine a first dispensing profile using a rule-based model based on dispensing-related information for a first dispensing unit (e.g., shell, thickness of the shell, first syringe information, etc.). In one example, the fluid dispensing device (10) can determine a second dispensing profile using a rule-based model based on dispensing-related information for a second dispensing unit (e.g., core, diameter of the core, second syringe information, etc.). The control unit (100) can independently control the first dispensing unit and the second dispensing unit. The fluid dispensing device (10) can determine a first dispensing profile for controlling the first dispensing unit and a second dispensing profile for controlling the second dispensing unit.

[0081] In one example, when the shape of the discharged product is a linear shape having a core-shell structure, the first discharge unit may form a core while the second discharge unit may form a shell that surrounds the core. The first syringe mounted on the first discharge unit and the second syringe mounted on the second discharge unit may be connected together to a core-shell nozzle. For example, through the core-shell nozzle, a linear shape may be formed in which the core formed by the first discharge unit is inserted into the shell formed by the second discharge unit. The fluid discharge device (10) may obtain the core formed by the first discharge unit and the shell formed by the second discharge unit as the shape of the desired discharged product, and obtain information on the first syringe mounted on the first discharge unit (i.e., related to core formation) and information on the second syringe mounted on the second discharge unit (i.e., related to shell formation). The fluid dispensing device (10) can obtain the diameter of the core formed by the first dispensing unit, the thickness of the shell formed by the second dispensing unit, the length of the line shape having a core-shell structure, etc., as the size of the desired discharge. In one example, the fluid dispensing device (10) can determine a first discharge profile using a rule-based model based on discharge-related information for the first dispensing unit (e.g., core, diameter of the core, first syringe information, etc.). In one example, the fluid dispensing device (10) can determine a first discharge profile using a rule-based model based on discharge-related information for the second dispensing unit (e.g., shell, thickness of the shell, second syringe information, etc.). The control unit (100) can independently control the first dispensing unit and the second dispensing unit. The fluid dispensing device (10) can determine a first discharge profile for controlling the first dispensing unit and a second discharge profile for controlling the first dispensing unit.

[0082] The fluid discharge device (10) can discharge fluid according to a discharge profile (e.g., S203). That is, the fluid discharge device (10) can control the discharge unit (600) to discharge fluid according to the discharge profile.

[0083] The fluid discharge device (10) can discharge fluid according to a discharge profile, which is information for fluid discharge control. For example, the control unit (100) can transmit the discharge profile to the discharge unit (600). The discharge unit (600) can discharge fluid according to the received discharge profile. As described above in the description regarding S202, the control unit (100) can control the discharge unit (600) according to the discharge profile. That is, the control unit (100) can control the head, fluid storage unit, discharge drive unit, and head movement drive unit according to the data included in the discharge profile.

[0084] In the discharge drive unit, the motor can generate linear force or rotational force depending on the type of motor. The linear force generated by the linear motor can directly apply pressure to the plunger flange of the syringe. The rotational force generated by the rotary motor is converted into linear force by a lead screw, a linear actuator, a linear gear, etc., and the converted linear force is transmitted to a push rod, which can apply pressure to the plunger flange of the syringe.

[0085] In a fluid reservoir, for example, in a syringe, the plunger moves forward due to pressure applied to the plunger flange, and the fluid contained in the barrel can be discharged from the syringe. For example, if the head is a syringe needle (i.e., no nozzle is used), the fluid can be discharged from the syringe needle. For another example, if the head is a nozzle, the fluid moves to the head, and the fluid can be discharged from the head.

[0086] When the fluid discharge device (10) includes a plurality of discharge units (600), each of the plurality of discharge units (600) can discharge fluid according to a plurality of corresponding discharge profiles. In one example, when the shape of the desired discharge product is a linear shape having a core-shell structure, the first discharge unit can form the core of the linear shape, and the second discharge unit can form the shell of the linear shape.

[0087] In some embodiments, the fluid may include bio-ink. For example, the fluid dispensing device described above may include a bio-printer and may also include a bio-printer using a syringe.

[0088] As illustrated in FIG. 3, a fluid can be discharged according to another embodiment of the present invention. However, details that overlap with the above description may be omitted.

[0089] Referring to FIG. 3, the fluid discharge device (10) can obtain shape information of the desired discharge product and syringe information mounted on the discharge unit (600) (e.g., S301).

[0090] In the case of S301, since the contents of the aforementioned S201 can be applied substantially identically, a detailed explanation thereof is omitted.

[0091] The fluid discharge device (10) can acquire fluid information (e.g., S302). For example, the fluid may include bio-ink, and the information regarding the bio-ink may be information regarding factors affecting fluid discharge (e.g., viscous resistance generated by viscosity when the bio-ink moves, hydraulic resistance generated when the bio-ink passes through the head, etc.), which may be specified by the user, etc. As an example, the fluid discharge device (10) may acquire additional fluid information when acquiring shape information of the desired discharge product and syringe information mounted on the discharge unit (600).

[0092] The fluid discharge device (10) can receive fluid information from a user, etc. For example, the input unit (500) can acquire fluid information from a user, etc. and transmit the acquired fluid information to the control unit (100). In one example, the fluid discharge device (10) can provide an interface (e.g., a user interface, etc.) for inputting fluid information to a user, etc., and can receive fluid information through the said interface. A part of the interface may form a part of the input unit (500). For example, a touch screen included in the interface may form at least a part of the input unit (500).

[0093] In some embodiments, the fluid information may include at least one or two of the type of the bio-ink medium, the viscosity of the bio-ink medium, and the viscosity of the bio-ink. For example, where the fluid includes bio-ink, the fluid information may include the type of the bio-ink medium and further include at least one of the viscosity of the bio-ink medium and the viscosity of the bio-ink. For example, the fluid may be bio-ink.

[0094] For example, the type of medium of the bioink can affect the physical properties of the bioink (e.g., viscosity, etc.), cell viability, biodegradability, etc. The type of medium of the bioink may include categorical data. For example, the categories may be natural polymers, synthetic polymers, etc. For example, the categories may be alginate, gelatin, collagen, fibrin, hyaluronic acid, plutonic acid, polyethylene glycol diacrylate, polyvinyl alcohol, etc.

[0095] For example, the viscosity of the bio-ink medium affects the maintenance of the desired shape of the extruded product, and the shape of the desired extruded product may vary depending on the viscosity. The viscosity of the bio-ink medium may be measured at room temperature (25°C). For example, the viscosity of the bio-ink medium may include continuous or categorical data. For example, the categories may include BMV1 or less, greater than BMV1 or less than BMV2, greater than BMV2, etc. (wherein BMV1 and BMV2 may be natural numbers or positive numbers and may be pre-set).

[0096] For example, the viscosity of the bio-ink may be influenced by cell density, viscosity modifiers, ionic curing agents, etc., in addition to the medium contained in the bio-ink. The viscosity of the bio-ink may be measured at room temperature (25°C). For example, the viscosity of the bio-ink may include continuous or categorical data. For example, categories may include BIV1 or less, greater than BIV1 or less than BIV2, greater than BIV2, etc. (wherein BIV1 and BIV2 may be natural numbers or positive numbers and may be pre-set).

[0097] When the fluid discharge device (10) includes a plurality of discharge units (600), the fluid discharge device (10) can obtain fluid information according to each of the plurality of discharge units (600).

[0098] The fluid discharge device (10) can determine a discharge profile based on shape information of the target discharge, syringe information mounted on the discharge unit (600), and fluid information using a preset rule-based model (e.g., S303). For example, to distinguish it from the preset rule-based models of steps S202 and S403, the preset rule-based model of step S303 may be referred to as a second preset rule-based model.

[0099] In some embodiments, the discharge profile may further include the temperature of the bio-ink. If the discharge unit (600) includes a temperature control unit, the fluid discharge device (10) may determine the temperature of the bio-ink. The unit of temperature may be °C.

[0100] For example, the temperature of the bio-ink refers to the temperature of the bio-ink contained in the syringe when the fluid is the bio-ink, and the temperature of the bio-ink can affect the viscosity, flowability, reactivity, curing speed, etc. The sensor unit (400) can measure the temperature of the bio-ink and transmit the measurement result to the control unit (100). For example, a temperature sensor included in the sensor unit (400) can detect the temperature of the bio-ink. The control unit (100) can control the dispensing unit (600) based on the received temperature of the bio-ink (i.e., the measurement result) and adjust the temperature of the bio-ink. For example, if the temperature of the delivered bio-ink is higher than a set value (i.e., a value determined using a preset rule-based model), the control unit (100) can lower the temperature of the bio-ink by heat exchange by moving the temperature control unit (e.g., including an ice pack) to contact the syringe (i.e., moving by a motor included in the temperature control unit). For example, the temperature of the bio-ink may include continuous or categorical data. For example, categories may include BIT1 or less, greater than BIT1 and less than BIT2, greater than BIT2, etc. (wherein BIT1 and BIT2 may be natural numbers or positive numbers and may be pre-set).

[0101] As details regarding the discharge profile, etc., can be applied substantially identically to the contents of the aforementioned S202 (except for the addition of details regarding the temperature of the bio-ink described above), a detailed explanation thereof is omitted.

[0102] In some embodiments, at step S303, a discharge profile can be determined based on shape information of the desired discharge, syringe information mounted on the discharge unit (600), and fluid information using a preset rule-based model. For example, the fluid discharge device (10) can query a predefined discharge profile for the acquired shape information of the discharge, syringe information, and fluid information.

[0103] In one embodiment, the fluid discharge device (10) can determine a discharge profile using a preset rule-based model. For example, the rule may include shape information of the desired discharge, a combination of syringe information and fluid information mounted on the discharge unit (600), and a mapping result of the discharge profile for said combination. That is, the shape information of the discharge, said syringe information and fluid information are used as keys, and a discharge profile, which is a value retrieved by the rule, can be determined. For example, the rule-based model may include a lookup table in which the shape information of the discharge, said syringe information and fluid information and the discharge profile are matched, and may receive the shape information of the discharge, said syringe information and fluid information as inputs and output a discharge profile.

[0104] For example, if the fluid discharge device (10) includes a plurality of discharge units (600), the fluid discharge device (10) can obtain a discharge profile for each of the plurality of discharge units (600) by inputting discharge-related information (shape information of the discharged product, syringe information, fluid information, etc.) for each of the plurality of discharge units (600) into a rule-based model. For example, the rule-based model may be a lookup table.

[0105] For example, the fluid dispensing device (10) can determine a dispensing profile based on shape information of the discharged product, syringe information mounted on the dispensing unit (600), and fluid information using a trained artificial intelligence model. For example, the fluid dispensing device (10) can preprocess the acquired shape information of the discharged product, syringe information, and fluid information. For example, preprocessing may include vectorization, standardization, normalization, etc. The trained artificial intelligence model may include a regression model or a classification model depending on the type of dispensing profile. The trained artificial intelligence model may be a model trained to predict a dispensing profile based on the shape information of the discharged product, syringe information, and fluid information. For example, the trained artificial intelligence model may be trained using the shape information of the discharged product, syringe information, and fluid information, which are labeled with the dispensing profile, as a training data set. For example, the trained artificial intelligence model may be constructed by fine-tuning a known artificial intelligence model as a backbone. For example, a trained artificial intelligence model can output a predicted value for a discharge profile using feature information generated based on the shape information of the discharge, the syringe information, and fluid information, a classification layer (e.g., a fully connected layer, etc.), an activation function (e.g., a sigmoid function, etc.). The discharge profile can be determined based on the predicted value.

[0106] The fluid discharge device (10) can discharge fluid according to a discharge profile (e.g., S304). That is, the fluid discharge device (10) can control the discharge unit (600) to discharge fluid according to the discharge profile.

[0107] In the case of S304, since the contents of the aforementioned S203 can be applied substantially identically, a detailed explanation thereof is omitted.

[0108] As illustrated in FIG. 4, a fluid can be discharged according to another embodiment of the present invention. However, details that overlap with the foregoing may be omitted.

[0109] Referring to FIG. 4, the fluid discharge device (10) can obtain shape information of the desired discharge product and syringe information mounted on the discharge unit (600) (e.g., S401).

[0110] In the case of S401, since the contents of the aforementioned S201 can be applied substantially identically, a detailed explanation thereof is omitted.

[0111] The fluid discharge device (10) can acquire nozzle information (e.g., S402). For example, the nozzle information is information regarding factors affecting fluid discharge (e.g., viscous resistance force generated by viscosity when the fluid moves, hydraulic resistance force generated when the fluid passes through the nozzle, etc.), and can be specified by the user, etc. As an example, the fluid discharge device (10) may acquire additional nozzle information when acquiring shape information of the target discharge product and syringe information mounted on the discharge unit (600).

[0112] The fluid discharge device (10) can receive nozzle information from a user, etc. For example, the input unit (500) can acquire nozzle information from a user, etc. and transmit the acquired nozzle information to the control unit (100). In one example, the fluid discharge device (10) can provide an interface (e.g., a user interface, etc.) for inputting nozzle information to a user, etc., and can receive nozzle information through the said interface. A part of the interface may form a part of the input unit (500). For example, a touch screen included in the interface may form at least a part of the input unit (500).

[0113] In some embodiments, nozzle information may include at least one of nozzle length, nozzle cross-sectional area, and nozzle inner diameter. For example, the head of the discharge unit (600) may include a nozzle. Fluid contained in the barrel of the syringe moves to the nozzle, and fluid may be discharged from the nozzle.

[0114] For example, nozzle length can affect the hydraulic resistance generated while the fluid passes through the nozzle (i.e., hydraulic resistance increases as nozzle length increases). For example, nozzle length may include continuous or categorical data. For example, categories may include NL1 or less, greater than NL1 and NL2 or less, greater than NL2, etc. (wherein NL1 and NL2 are natural numbers or positive numbers and may be pre-set).

[0115] For example, the nozzle cross-sectional area can affect hydraulic resistance (i.e., the smaller the nozzle cross-sectional area, the greater the hydraulic resistance). For example, the nozzle cross-sectional area may include continuous or categorical data. For example, categories may include NA1 or less, greater than NA1 and less than or equal to NA2, greater than NA2, etc. (wherein NA1 and NA2 are natural numbers or positive numbers and may be pre-set).

[0116] For example, the nozzle inner diameter affects hydraulic resistance (i.e., hydraulic resistance increases as the nozzle inner diameter decreases), and the nozzle cross-sectional area can be calculated using the nozzle inner diameter (i.e., cross-sectional area = π × (inner diameter / 2) 2 ). For example, the nozzle inner diameter may include continuous or categorical data. For example, categories may include NID1 or less, greater than NID1 and less than NID2, greater than NID2, etc. (wherein NID1 and NID2 may be natural numbers or positive numbers and may be pre-set).

[0117] When the fluid discharge device (10) includes a plurality of discharge units (600), the fluid discharge device (10) can obtain nozzle information corresponding to each of the plurality of discharge units (600).

[0118] The fluid discharge device (10) can determine a discharge profile based on shape information of the target discharge, syringe information mounted on the discharge unit (600), and nozzle information using a preset rule-based model (e.g., S403). For example, to distinguish it from the preset rule-based models of steps S202 and S303, the preset rule-based model of step S403 may be referred to as a third preset rule-based model.

[0119] As details regarding the discharge profile, etc., can be applied substantially identically to the contents of S202 described above, a detailed explanation thereof is omitted.

[0120] In some embodiments, at step S403, a discharge profile can be determined based on shape information of the desired discharge, syringe information mounted on the discharge unit (600), and nozzle information using a preset rule-based model. For example, the fluid discharge device (10) can query a predefined discharge profile for the acquired shape information of the discharge, syringe information, and nozzle information.

[0121] In one embodiment, the fluid discharge device (10) can determine a discharge profile using a preset rule-based model. For example, the rule may include shape information of the desired discharge product, a combination of syringe information and nozzle information mounted on the discharge unit (600), and a mapping result of the discharge profile for said combination. That is, the shape information of the discharge product, said syringe information and nozzle information are used as keys, and a discharge profile, which is a value retrieved by the rule, can be determined. For example, the rule-based model may include a lookup table in which the shape information of the discharge product, said syringe information and nozzle information and the discharge profile are matched, and may receive said shape information of the discharge product, said syringe information and nozzle information as input and output a discharge profile.

[0122] For example, if the fluid discharge device (10) includes a plurality of discharge units (600), the fluid discharge device (10) can obtain a discharge profile for each of the plurality of discharge units (600) by inputting discharge-related information (shape information of the discharged product, syringe information, nozzle information, etc.) for each of the plurality of discharge units (600) into a rule-based model. For example, the rule-based model may be a lookup table.

[0123] For example, the fluid dispensing device (10) can determine a dispensing profile based on shape information of the target dispensing material, syringe information and nozzle information mounted on the dispensing unit (600) using a trained artificial intelligence model. For example, the fluid dispensing device (10) can preprocess the acquired shape information of the dispensing material, syringe information and nozzle information. For example, preprocessing may include vectorization, standardization, normalization, etc. The trained artificial intelligence model may include a regression model or a classification model depending on the type of dispensing profile. The trained artificial intelligence model may be a model trained to predict the dispensing profile based on the shape information of the dispensing material, syringe information and nozzle information. For example, the trained artificial intelligence model may be trained using shape information of the dispensing material, syringe information and nozzle information, in which the dispensing profile is labeled, as a training data set. For example, the trained artificial intelligence model may be constructed by fine-tuning a known artificial intelligence model as a backbone. For example, a trained artificial intelligence model can output a predicted value for an ejection profile using feature information generated based on the shape information of the ejected substance, the syringe information and nozzle information, a classification layer (e.g., a fully connected layer, etc.), an activation function (e.g., a sigmoid function, etc.). The ejection profile can be determined based on the predicted value.

[0124] The fluid discharge device (10) can discharge fluid according to a discharge profile (e.g., S404). That is, the fluid discharge device (10) can control the discharge unit (600) to discharge fluid according to the discharge profile.

[0125] In the case of S404, since the contents of the aforementioned S203 can be applied substantially identically, a detailed explanation thereof is omitted.

[0126] In some embodiments, the fluid discharge device (10) may acquire shape information of the desired discharge and syringe information mounted on the discharge unit (600), and may further acquire the fluid information and nozzle information described above. The fluid discharge device (10) may determine a discharge profile based on the shape information of the discharge, the syringe information, the fluid information, and the nozzle information using a pre-set rule-based model (for example, to distinguish it from the first to third pre-set rule-based models, it may be referred to as the fourth pre-set rule-based model). The fluid discharge device (10) may discharge fluid according to the discharge profile. That is, the fluid discharge device (10) may control the discharge unit (600) to discharge fluid according to the discharge profile. Since the process of discharging fluid according to the above-described embodiment can be substantially applied in the same way as the contents of S201 to S203, S301 to S304, and S401 to S404 described above, a detailed description thereof is omitted.

[0127] In this specification, the designation of 'one embodiment' of the principles of the present invention and various variations of such expression means that specific features, structures, characteristics, etc., associated with this embodiment are included in at least one embodiment of the principles of the present invention. Accordingly, the expression 'in one embodiment' and any other variations disclosed throughout this specification do not necessarily refer to the same embodiment.

[0128] The implementation of the device and system according to the various embodiments of the present invention described above may be realized with digital electronic circuits, integrated circuits, ASICs (application specific integrated circuits), hardware, firmware, software, or a combination thereof.

[0129] The method according to the various embodiments of the present invention described above may be implemented as a computer program or mobile application and stored on a medium so as to be executed in combination with hardware. The steps of the method or algorithm described in relation to the embodiments of the present invention may be implemented directly in hardware, implemented as a software module executed by hardware, or implemented by a combination thereof. The software module may reside in RAM, ROM, EPROM, EEPROM, flash memory, hard disk, removable disk, CD-ROM, or any form of computer-readable recording medium well known in the art to which the present invention belongs. Additionally, the algorithm may be produced in the form of an installation file and provided in the form of an online download, and for this purpose, may be stored on a server accessible through an online software market.

[0130] All embodiments and conditional examples disclosed herein are intended to help those skilled in the art to understand the principles and concepts of the invention. Those skilled in the art will understand that the invention may be implemented in modified forms without departing from the essential nature of the invention. Therefore, the disclosed embodiments should be considered in an illustrative rather than a limiting sense. The scope of the invention is defined by the claims, not by the foregoing description, and all variations within the scope of the claims should be interpreted as being included in the invention.

Claims

Claim 1 A fluid dispensing device comprising: a dispensing unit capable of being equipped with a syringe for receiving fluid and configured to discharge the fluid contained in the syringe; an input unit receiving shape information of a desired discharge and information of a syringe mounted on the dispensing unit; and at least one processor for controlling the dispensing unit and the input unit, wherein the at least one processor acquires the shape information of the discharge and the syringe information from the input unit, determines a discharge profile based on the shape information of the discharge and the syringe information using a preset rule-based model, and controls the dispensing unit to discharge the fluid according to the discharge profile, wherein the syringe information includes at least one of the barrel capacity of the syringe, the barrel cross-sectional area of ​​the syringe, and the barrel inner diameter of the syringe, and the discharge profile includes the movement speed of the plunger of the syringe and the movement time of the plunger of the syringe. Claim 2 A fluid discharge device according to claim 1, wherein the shape information of the discharge includes: a shape of a desired discharge; and a size of a desired discharge; and wherein the size of the discharge includes at least one of a diameter of a desired discharge, a length of a desired discharge, an area of ​​a desired discharge, and a volume of a desired discharge. Claim 3 delete Claim 4 delete Claim 5 delete Claim 6 delete Claim 7 A fluid dispensing device according to claim 1, wherein the fluid comprises a bio-ink, and the at least one processor further acquires fluid information including at least one of a type of medium of the bio-ink, a viscosity of the medium of the bio-ink, and a viscosity of the bio-ink, and determines a dispensing profile based on shape information of the discharge, syringe information, and fluid information using a preset rule-based model. Claim 8 A fluid dispensing device according to claim 7, wherein the dispensing profile further includes the temperature of the bio-ink. Claim 9 A fluid dispensing device according to claim 1, wherein the at least one processor further acquires nozzle information and determines a dispensing profile based on shape information of the discharge, syringe information, and nozzle information using a preset rule-based model. Claim 10 A fluid discharge device according to claim 9, wherein the nozzle information includes at least one of nozzle length, nozzle cross-sectional area, and nozzle inner diameter.

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