Implantable and interventional device printing control method, device and implantable and interventional device

Abstract

The present invention provides a printing control method and device for implantable and interventional instruments, and the implantable and interventional instruments, belonging to the technical field of implantable prostheses. The printing control method for implantable and interventional instruments of the present invention can accurately determine the position of the print head by measuring the distance between a print head and a rotating rod in real time through a rangefinder, and combining the real-time projection position of the print head obtained by an image acquisition device, and obtain the detection result of the rotating rod. Then, based on the detection result of the rotating rod and multiple first distances of the rotating rod, the printing parameters of the print head can be dynamically adjusted in real time, thereby adapting to various changes occurring during the printing process, and further improving the printing effect and product quality.

Description

Technical Field

[0001] The present invention relates to the technical field of implantable prostheses, and in particular to a printing control method and device for implantable and interventional instruments, and the implantable and interventional instruments. Background Art

[0002] Implantable and interventional tubular devices are a type of medical device used for implantation, interventional surgery or examination in the body, and can be operated in different tissues. For example, implantable and interventional tubular devices can be catheters, sheaths, artificial blood vessels, nerve repair catheters, cardiovascular stents, digestive tract stents, regenerative tissues or artificial organs used in body tissues. The main preparation methods of this type of product include 3D printing, electrospinning, weaving and casting.

[0003] 3D printing is mainly achieved by 3D printers, which contain a main xyz three-axis system to control the movement of the nozzle in three directions, namely along the horizontal plane (X and Y axes) and perpendicular to the horizontal plane (Z axis). Such a system can achieve precise control of the printing path. The distribution system is connected to the xyz system, and the nozzle is responsible for depositing the filament according to the predetermined movement path.

[0004] Some printers also include a fourth axis system, which includes a rotating rod that is located below the nozzle and connected to the base. The rotating rod can move along the longitudinal axis, and its rotation speed or stop state is precisely controlled by a computer program. The role of this system is to enable the tubular structure to be built layer by layer on a rotating basis, enhancing the stability and accuracy of the structure.

[0005] However, due to the long-term use, the material stiffness of the rotating rod has certain limitations, and the rotating rod will deform during use, but these deformations are difficult to directly detect. These rotating rods are usually related to the product shape and are difficult to replace during use, which will affect the product printing quality. Summary of the invention

[0006] The present invention provides a printing control method and device for implantable and interventional instruments, and the implantable and interventional instruments, which are used to solve the defect that the deformation of a rotating rod cannot be identified and controlled in the prior art, and achieve the effect of improving the printing quality of the product.

[0007] The present invention provides a printing control method for implantable and interventional instruments, which is applied to a multi-axis printing system, wherein the multi-axis printing system comprises an xyz three-axis moving system, a printing nozzle, and a rotating rod connected to a base of the multi-axis printing system below the printing nozzle, wherein the printing nozzle is used to extrude printing material under the drive of the three-axis moving system so as to adhere to the rotating rod in a rotating state and / or a moving state, and the implantable and interventional instrument comprises at least one layer of tubular structure, wherein the tubular structure is a tubular structure with a completely closed wall surface or a porous tubular structure; the method comprises: when the printing nozzle extrude the printing material for printing, measuring the distance of the rotating rod by a distance meter whose installation position is associated with the installation position of the printing nozzle, and obtaining a plurality of first distances between the printing nozzle and the rotating rod;

[0008] By means of an image acquisition device, an image of the print head when the rangefinder measures the distance of the rotating rod is acquired, and a plurality of real-time projection positions of the print head on the plane where the reference plane is located are obtained; the projection positions correspond one to one with the first distance;

[0009] Determine the detection result of the rotating rod based on the real-time projection position of the printing head on the plane where the reference plane is located, the preset printing trajectory of the printing head, and the first distance;

[0010] Based on the detection result of the rotating rod and the multiple first distances of the rotating rod, the printing parameters of the printing nozzle are adjusted, and the printing parameters include at least one of the height, wire output speed, movement trajectory and movement speed of the printing nozzle.

[0011] According to a printing control method for implantable and interventional instruments provided by the present invention, the detection result of the rotating rod is determined based on the real-time projection position of the printing nozzle on the plane where the reference plane is located, the preset printing trajectory of the printing nozzle and the first distance, including:

[0012] Determining a desired projection position of the print head on the plane where the reference plane is located based on a preset print trajectory of the print head;

[0013] In a case where the expected projection position is consistent with the real-time projection position, determining, based on the preset printing trajectory, an expected second distance between the print head and the rotating rod when the rangefinder measures the distance of the rotating rod;

[0014] When the second distance matches the first distance, it is determined that the detection result of the rotating rod is that the rotating rod has not deviated.

[0015] According to a printing control method for implantable and interventional instruments provided by the present invention, the detection result of the rotating rod is also determined by the following method:

[0016] When the expected projection position does not match the real-time projection position, or when the second distance does not match the first distance, it is determined that the detection result of the rotating rod is that the rotating rod has deviated.

[0017] According to a printing control method for implantable and interventional instruments provided by the present invention, the detection result of the rotating rod is also determined by the following method:

[0018] When the expected projection position matches the real-time projection position and the second distance does not match the first distance, it is determined that the detection result of the rotating rod is that the rotating rod is shifted in the up-down direction.

[0019] According to a printing control method for implantable and interventional instruments provided by the present invention, the detection result of the rotating rod is also determined by the following method:

[0020] When the expected projection position does not match the real-time projection position and the second distance matches the first distance, it is determined that the detection result of the rotating rod is that the rotating rod is positionally offset in the left-right direction.

[0021] According to a printing control method for implantable and interventional instruments provided by the present invention, the detection result of the rotating rod is also determined by the following method:

[0022] When the expected projection position does not match the real-time projection position and the second distance does not match the first distance, it is determined that the detection result of the rotating rod is that the rotating rod is positionally offset in both the up-down direction and the left-right direction.

[0023] According to a printing control method for implantable and interventional instruments provided by the present invention, the distance measuring device, whose installation position is associated with the installation position of the print head, measures the distance of the rotating rod to obtain a plurality of first distances between the print head and the rotating rod, including:

[0024] Measuring the distance of the rotating rod by a distance meter whose installation position is associated with the installation position of the print head, to obtain a plurality of first initial distances between the print head and the rotating rod;

[0025] In the case where the first initial distance does not match the second distance, the first initial distance is superimposed with the printed wire diameter or product wall thickness to obtain the second initial distance; the second distance is the expected distance between the printing nozzle and the rotating rod when the distance meter determined based on the preset printing trajectory measures the rotating rod;

[0026] When the second initial distance matches the second distance, the second initial distance is used as the first distance.

[0027] The present invention also provides a printing control device for implantable and interventional instruments, comprising:

[0028] a distance measuring module, configured to measure the distance of the rotating rod by a distance meter whose installation position is associated with the installation position of the printing nozzle, when the printing nozzle extrude the printing material for printing, to obtain a plurality of first distances between the printing nozzle and the rotating rod;

[0029] A positioning module, used to obtain, through an image acquisition device, an image of the print head when the rangefinder measures the distance of the rotating rod, and obtain a plurality of real-time projection positions of the print head on the plane where the reference plane is located; the projection positions correspond one to one with the first distance;

[0030] A first processing module, configured to determine a detection result of the rotating rod based on a real-time projection position of the print head on the plane where the reference plane is located, a preset printing track of the print head, and the first distance;

[0031] The second processing module is used to adjust the printing parameters of the printing head based on the detection result of the rotating rod and the multiple first distances of the rotating rod, and the printing parameters include at least one of the height, wire output speed, movement trajectory and movement speed of the printing head.

[0032] The present invention also provides an implantation and interventional device, comprising at least one layer of tubular structure, wherein the tubular structure is a tubular structure with a completely closed wall or a porous tubular structure;

[0033] The tubular structure is obtained by printing through the above-mentioned multi-axis printing system, and the printed tubular structure is sleeved on the rotating rod of the multi-axis printing system; during the printing process, the tubular structure is printed by adjusting the printing parameters of the printing nozzle of the multi-axis printing system through any of the above-mentioned printing control methods for implantable and interventional instruments.

[0034] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, a printing control method for implantable or interventional devices as described above is implemented.

[0035] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the printing control method for implantable or interventional devices as described in any one of the above is implemented.

[0036] The present invention also provides a computer program product, including a computer program, which, when executed by a processor, implements any of the above-mentioned printing control methods for implantable and interventional devices.

[0037] The printing control method and device of implantable and interventional instruments and the implantable and interventional instruments provided by the present invention can accurately determine the position of the print head by measuring the distance between the print head and the rotating rod in real time through a rangefinder, and obtain the real-time projection position of the print head by an image acquisition device, and obtain the detection result of the rotating rod. Then, based on the detection result of the rotating rod and the multiple first distances of the rotating rod, the printing parameters of the print head can be dynamically adjusted in real time, thereby adapting to various changes occurring during the printing process, and further improving the printing effect and product quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 It is a schematic flow chart of the printing control method of implantable and interventional devices provided by the present invention;

[0040] Figure 2 It is a structural schematic diagram of a multi-axis printing system provided by the present invention;

[0041] Figure 3 It is a structural schematic diagram of the printing control device for implantable and interventional instruments provided by the present invention;

[0042] Figure 4 It is a structural schematic diagram of the electronic device provided by the present invention.

[0043] Reference numerals:

[0044] 210: base; 220: xyz three-axis moving system; 230: printing nozzle; 240: rotating rod; 250: rangefinder; 260: image acquisition device. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] Combine the following Figure 1-Figure 4 The invention describes the printing control method and device of implantable and interventional devices and the implantable and interventional devices.

[0047] Before describing the printing control method for implantable or interventional devices according to the embodiment of the present invention, the multi-axis printing system of the present invention is first described.

[0048] The printing control method for implantable and interventional devices in an embodiment of the present invention is applied to a multi-axis printing system, which includes an xyz three-axis moving system, a print head, and a rotating rod connected to the base of the multi-axis printing system below the print head. The print head is used to extrude printing material under the drive of the three-axis moving system to attach to the rotating rod in a rotating state and / or moving state.

[0049] It can be understood that the print head can be moved to the desired printing position to extrude the printing material under the action of the xyz three-axis moving system. During the movement of the print head, the rotating rod can rotate or move, so that the printing material attached to the rotating rod can be printed into the desired product.

[0050] like Figure 1 As shown, the printing control method for implantable and interventional devices according to the embodiment of the present invention mainly includes step 110, step 120, step 130 and step 140.

[0051] Step 110, when the print head extrude the printing material for printing, the rotating rod is measured by a distance meter whose installation position is associated with the installation position of the print head to obtain a plurality of first distances between the print head and the rotating rod.

[0052] The print head extrude the printing material to perform printing, that is, during the printing process, the multi-axis printing system extrude the material through the nozzle to perform the printing operation.

[0053] The installation position of the distance meter is associated with the installation position of the print head, that is, the distance meter is installed at a certain position of the printer so that the distance between the print head and the rotating rod can be accurately measured. For example, the distance meter can be installed on the same component where the print head is installed, so that the distance between the print head and the rotating rod can be obtained based on the relative position between the distance meter and the printer and the distance measurement result of the distance meter.

[0054] The rangefinder may be a laser rangefinder, an ultrasonic rangefinder, an infrared rangefinder, a radar rangefinder, etc., and the specific type of the rangefinder is not limited here.

[0055] It is understandable that, through measurement, a plurality of first distances between the print head and the rotating rod can be obtained, and the first distances can be used to determine the position of the rotating rod relative to the print head, thereby facilitating monitoring or adjusting the printing process.

[0056] In this embodiment, the purpose of this process is to ensure printing accuracy and quality, and the position of the print head can be easily adjusted to adapt to the position change or deformation of the rotating rod during the printing process.

[0057] Step 120, using an image acquisition device, acquires an image of the print head when the rangefinder measures the distance of the rotating rod, and obtains multiple real-time projection positions of the print head on the plane where the reference plane is located.

[0058] It is understandable that the image of the print head can be acquired through an image acquisition device, which can be a digital camera, a webcam, or a CCD / CMOS image sensor, etc. The specific type of the image acquisition device is not limited here.

[0059] When the rangefinder measures the distance of the rotating rod each time, the image acquisition device acquires the image of the print head while measuring the distance. The image acquisition device can be installed in the multi-axis printing system above the rotating rod and the print head, so as to better acquire the image of the print head. A reasonable installation position helps to better acquire the image of the print head, provide a clear viewing angle, and avoid obstruction and interference.

[0060] It should be noted that the reference plane is a known, fixed reference plane, and the measurement and calibration of the multi-axis printing system can be based on this plane. For example, the reference plane can be a horizontal plane where the base of the horizontally placed multi-axis printing system is located.

[0061] The reference plane has a fixed position and orientation in space and is used to provide a unified reference frame so that the positions of other components (such as print heads, rotating rods) can be measured and calibrated relative to this plane.

[0062] The reference plane defines a unified coordinate system so that all measurements and position calculations in the system can be performed in this coordinate system, and all position data are relative to the same reference point and direction, ensuring data consistency.

[0063] By obtaining the real-time projection position of the print head on the reference plane, the position change of the print head can be accurately monitored so that real-time adjustments can be made during the printing process to ensure printing accuracy. The reference plane can also be used as a reference to detect and compensate for errors in the system. For example, if the position of the print head deviates from the predetermined projection position, it can be corrected based on the reference of the reference plane.

[0064] Datum planes serve as references in multi-axis printing systems by providing a unified reference coordinate system to ensure that the various components in the system can be accurately positioned and calibrated.

[0065] like Figure 2 As shown in the figure, the reference plane is the horizontal plane where the base 210 of the multi-axis printing system is located. The xyz three-axis moving system 220, the printing nozzle 230, and the rotating rod 240 connected to the base 210 of the multi-axis printing system below the printing nozzle 230 can construct a unified reference coordinate system in the reference plane. The rangefinder 250 and the image acquisition device 260 can be installed on the bracket where the xyz three-axis moving system is located.

[0066] Based on the acquired images, multiple real-time projection positions of the print head on the plane where the reference plane is located can be obtained. In this embodiment, the projection positions correspond to the first distances one by one.

[0067] Each real-time projection position corresponds one-to-one to the corresponding first distance, and the spatial position information of the print head can be associated with its projection position on the plane, thereby achieving accurate positioning and monitoring.

[0068] During the printing process, the rangefinder and the image acquisition device need to be precisely synchronized to ensure that each distance measurement data has corresponding image data. This process can be achieved through hardware synchronization or software synchronization.

[0069] The acquired image data may be processed to extract the projection position of the print head, for example, by using techniques such as image segmentation, edge detection, and feature extraction.

[0070] In order to ensure that the projection position corresponds accurately to the actual position, the detection result can be calibrated according to the installation position of the image acquisition device. The calibration process can include mapping the print head position to the image acquisition device coordinate system.

[0071] In this embodiment, by simultaneously acquiring an image of the print head while the distance meter is measuring the distance, and installing the image acquisition device at a suitable position, accurate monitoring of the print head position can be achieved. Based on the acquired image data and distance measurement data, the real-time projection position of the print head on the reference plane can be calculated, and through the one-to-one correspondence between these positions and the distance measurement data, real-time adjustment and optimization of the printing process can be achieved to improve the printing effect.

[0072] It can be understood that by combining the advantages of image processing and ranging technology, the position of the print head can be located more accurately, thereby ensuring printing accuracy and quality.

[0073] Step 130 , determining a detection result of the rotating rod based on a real-time projection position of the print head on the plane where the reference plane is located, a preset printing track of the print head, and the first distance.

[0074] The preset print trajectory refers to the path and sequence that the print head moves in during the printing process to form the desired shape and structure. The preset print trajectory is defined by software or other tools before printing begins, ensuring that the print head can print accurately according to the design.

[0075] The preset printing trajectory is the path and sequence that the print head needs to follow during the printing process. Through precise planning and control, it ensures that the print head can move accurately according to the design requirements to form the required shape and structure, thereby achieving high-precision and high-quality printing effects.

[0076] In this embodiment, the preset printing trajectory may also be set based on the coordinate system constructed by the reference plane, thus ensuring the consistency of the data.

[0077] The preset print trajectory can determine the specific route that the print head needs to move through path planning. The path takes into account factors such as the shape, layering and details of the print. The multi-axis printing system can control the movement of the print head according to the preset trajectory to ensure that the print head can move accurately along the set route.

[0078] When printing, the preset printing trajectory can be converted into G code, which is the instruction code used to control the printer. G code includes movement instructions, speed control, extrusion instructions, etc. The multi-axis printing system can print according to the G code.

[0079] By analyzing the preset printing trajectory of the print head, the printing position of the print head at the distance measurement moment can be obtained, and then the expected projection position of the print head on the plane where the reference plane is located at the distance measurement moment and the expected distance between the print head and the rotating rod can be obtained.

[0080] It should be noted that the projection position of the print head on the reference plane can be obtained in real time and compared with the expected projection to determine whether the printing position of the print head is incorrect. The distance between the print head and the rotating rod measured by the rangefinder is combined with the preset printing trajectory for comparison and error analysis, so as to accurately detect whether the distance between the print head and the rotating rod is incorrect.

[0081] In this embodiment, the projection position obtained in real time during the distance measurement process is compared with the expected projection position preset in the preset printing trajectory to determine whether the printing position of the print head is deviated. If there is a deviation, the position of the print head or the printing parameters may need to be adjusted.

[0082] The distance measured by the distance meter is compared with the expected distance corresponding to the preset printing track to determine whether there is an error in the distance between the printing nozzle and the rotating rod.

[0083] In this process, through comparison and analysis, it can be determined whether the cause of the error is caused by the position error of the print head or the deformation of the rotating rod.

[0084] When there is a deviation in the printing position of the print head, if there is an error in the distance between the print head and the rotating rod, it means that the xyz three-axis movement system in the multi-axis printing system needs to be calibrated and adjusted to improve the position accuracy of the print head movement.

[0085] When there is no deviation in the printing position of the print head, if there is an error in the distance between the print head and the rotating rod, it means that there is deformation of the rotating rod.

[0086] That is, based on the real-time projection position of the print head on the plane where the reference plane is located, the preset printing track of the print head and the first distance, the detection result of the rotating rod is determined, including the following process.

[0087] The expected projection position of the print head on the plane where the reference plane is located can be determined based on the preset print track of the print head. When the expected projection position is consistent with the real-time projection position, the expected second distance between the print head and the rotating rod when the rangefinder measures the rotating rod is determined based on the preset print track. When the second distance is consistent with the first distance, it is determined that the detection result of the rotating rod is that the rotating rod has not deviated.

[0088] The projection position obtained in real time is compared with the preset expected projection position. If the two are consistent, it means that the printing position of the print head is accurate.

[0089] When the projection position meets the preset value, the expected second distance between the printing nozzle and the rotating rod is further calculated according to the preset printing trajectory.

[0090] The measured first distance is compared with the expected second distance. If the first distance matches the second distance, it means that the rotating rod has not deviated.

[0091] The measured first distance is compared with the expected second distance. If the first distance does not match the second distance, it indicates that the rotating rod has deviated.

[0092] Based on the result of the distance comparison, the detection result of the rotating rod can be output. If the two distances match, the detection result will show that the rotating rod has not deviated.

[0093] In some embodiments, the detection result of the rotating rod is further determined in the following manner: when the expected projection position does not match the real-time projection position, or when the second distance does not match the first distance, the detection result of the rotating rod is determined to be that the rotating rod has deviated.

[0094] When the expected projection position does not match the real-time projection position, or when the second distance does not match the first distance, it is determined that the rotating rod is deviated. In this embodiment, the offset or abnormal state of the rotating rod is identified by comparing the preset ideal position with the actual measurement result, or based on the change between the first measurement and the subsequent measurement, so that the change of the rotating rod position can be discovered and fed back in time, which helps to implement necessary adjustments to ensure the accuracy and consistency of the printing process.

[0095] In this embodiment, the above-mentioned method can effectively ensure the precise positioning of the nozzle during the printing process. Through real-time monitoring and adjustment, any possible deviation can be discovered and corrected in time to ensure the accuracy and consistency of the printing process.

[0096] Step 140: adjusting the printing parameters of the print head based on the detection result of the rotating rod and the plurality of first distances of the rotating rod.

[0097] According to the result of the error analysis, the printing parameters that need to be adjusted are determined. The printing parameters include at least one of the height of the print head, the wire output speed, the moving track and the moving speed.

[0098] Adjusting the height of the print head can ensure that the distance between the print head and the print medium remains consistent.

[0099] Adjusting the filament speed can control the material deposition rate and affect the thickness and uniformity of the printed layer.

[0100] The adjustment of the moving trajectory can change the moving path of the nozzle to ensure the accuracy of the printing trajectory.

[0101] The movement speed adjustment can change the movement speed of the nozzle to optimize the efficiency and quality of the printing process.

[0102] Real-time monitoring of printing parameters during the printing process and dynamic adjustment as needed can be achieved using a closed-loop control system, in which feedback signals are used to adjust control parameters in real time.

[0103] The degree of deviation of each first distance, the wire thickness, the deviation of the rotating rod and the movement speed of the rotating rod can be determined based on the detection result of the rotating rod and the multiple first distances of the rotating rod, and then the printing parameters of the printing nozzle that need to be adjusted can be determined, and then adjusted according to the actual deviation.

[0104] If, based on the detection result of the rotating rod and multiple first distances of the rotating rod, the first distances are all too small or too large, it is determined that the nozzle has deviated in the Z direction. The height of the nozzle can be increased or decreased in the Z-axis direction so that the distance between the nozzle and the receiving surface remains constant.

[0105] If, based on the detection result of the rotating rod and the multiple first distances of the rotating rod, a first distance is partially smaller or larger, it is determined that the deviation is caused by the wire thickness, and the wire drawing speed can be increased or decreased to control the wire thickness.

[0106] If it is found based on the detection result of the rotating rod and the multiple first distances of the rotating rod that the nozzle is deviated in the XY plane, the position of the nozzle is adjusted in the XY axis plane so that the distance between the nozzle and the receiving surface remains constant.

[0107] If it is determined based on the detection result of the rotating rod and the plurality of first distances of the rotating rod that the deviation is caused by the mismatch in movement speed, the movement speed of the nozzle or the rotating rod may be increased or decreased.

[0108] Through the above methods, the printing accuracy and quality can be significantly improved. Accurate adjustment of printing parameters helps to reduce material waste, improve yield rate, and ensure that the printed object meets the design specifications.

[0109] Even after the printing parameters are adjusted, the printing process should be continuously monitored to detect any emerging problems in time and make necessary adjustments to continuously improve the printing process to adapt to different printing conditions and material properties.

[0110] In this embodiment, by using this dynamic adjustment method based on the detection results, it is possible to ensure that the print head maintains optimal performance throughout the entire printing process, thereby achieving high-quality print output.

[0111] According to the printing control method for implantable and interventional instruments provided by an embodiment of the present invention, the distance between the print nozzle and the rotating rod is measured in real time by a rangefinder. Combined with the real-time projection position of the print nozzle obtained by the image acquisition device, the position of the print nozzle can be accurately determined, and the detection result of the rotating rod is obtained. Then, based on the detection result of the rotating rod and the multiple first distances of the rotating rod, the printing parameters of the print nozzle can be dynamically adjusted in real time to adapt to various changes occurring during the printing process, thereby further improving the printing effect and product quality.

[0112] It is understandable that the detection result of the rotating rod includes the rotating rod being deviated and not being deviated. When the rotating rod is deviated, the detection result of the rotating rod further includes the rotating rod being positionally offset in the up-down direction, the rotating rod being positionally offset in the left-right direction, and the rotating rod being positionally offset in both the up-down direction and the left-right direction.

[0113] When the rotating rod deviates, there are vertical position deviations, that is, the rotating rod is offset in the vertical direction (up and down), and horizontal position deviations, that is, the rotating rod is offset in the horizontal direction (left and right).

[0114] For different deviation situations, different adjustment methods can be adopted to adjust the printing parameters of the print head.

[0115] For deviation in a single direction (such as vertical or horizontal), adjust the corresponding printing parameters, such as height, wire speed, or movement trajectory, to correct the deviation in that direction.

[0116] If the rotating rod is offset in multiple directions, it is necessary to comprehensively consider the adjustment of multiple parameters to ensure that the print head can move along the correct trajectory and maintain consistency with the preset trajectory.

[0117] In some embodiments, a template configuration file for adjusting printing parameters may be set for each offset in a single direction, thereby facilitating direct loading of the template configuration file for automatic adjustment after the offset occurs.

[0118] In this way, the printing parameters can be adjusted in a targeted manner according to the specific deviation situation, thereby effectively correcting the position deviation of the rotating rod and improving the accuracy and quality of printing.

[0119] In some embodiments, the detection result of the rotating rod is also determined in the following manner: when the expected projection position matches the real-time projection position and the second distance does not match the first distance, the detection result of the rotating rod is determined to be that the rotating rod has a position shift in the up and down direction.

[0120] In the case where the reference plane is a horizontal plane, the expected projection position is consistent with the real-time projection position, which means that the actual projection position of the print head on the reference plane is consistent with the preset ideal position.

[0121] The second distance not matching the first distance indicates that the first distance measured by the distance meter is different from the expected second distance, that is, the distance between the print head and the rotating rod has changed.

[0122] When the above two situations occur simultaneously, the detection result of the rotating rod is judged as positional deviation occurring in the up-down direction.

[0123] In other words, although the projection position of the print head is consistent with the preset position, that is, the print head does not deviate in the left-right direction, the distance change measured by the distance meter indicates that the rotating rod is offset in the vertical direction.

[0124] In some embodiments, the detection result of the rotating rod is also determined in the following manner: when the expected projection position does not match the real-time projection position and the second distance matches the first distance, the detection result of the rotating rod is determined to be that the rotating rod has a position shift in the left and right direction.

[0125] The mismatch between the expected projection position and the real-time projection position indicates that the actual projection position of the print head on the reference plane is inconsistent with the preset ideal position.

[0126] The second distance being consistent with the first distance means that the first distance measured by the distance meter is the same as the expected second distance, that is, the distance between the print head and the rotating rod does not change significantly.

[0127] When the above two situations occur simultaneously, the detection result of the rotating rod is judged as a position deviation in the left-right direction.

[0128] In other words, the projection position of the print head is inconsistent with the preset position, indicating that the rotating rod is offset in the horizontal direction.

[0129] In some embodiments, the detection result of the rotating rod is also determined in the following manner: when the expected projection position does not match the real-time projection position and the second distance does not match the first distance, the detection result of the rotating rod is determined to be that the rotating rod has a position shift in both the up and down directions and the left and right directions.

[0130] The mismatch between the expected projection position and the real-time projection position indicates that the actual projection position of the print head on the reference plane is inconsistent with the preset ideal position.

[0131] The second distance not matching the first distance indicates that the first distance measured by the distance meter is different from the expected second distance, that is, the distance between the print head and the rotating rod has changed.

[0132] When the above two situations occur at the same time, the detection result of the rotating rod is determined to be that the rotating rod has positional deviation in both the up-down direction and the left-right direction. This situation indicates that the rotating rod has abnormal positional changes in both the vertical and horizontal directions. It is necessary to adjust the printing parameters such as height, wire speed and moving trajectory according to the specific situation to correct the inaccurate printing results caused by the multi-directional deviation of the rotating rod, thereby ensuring the position accuracy and printing quality during the printing process.

[0133] In some embodiments, measuring the distance of the rotating rod by a distance meter whose installation position is associated with the installation position of the print head to obtain a plurality of first distances between the print head and the rotating rod includes the following process.

[0134] The rotating rod may be firstly measured by a distance meter whose installation position is associated with the installation position of the print head, so as to obtain a plurality of first initial distances between the print head and the rotating rod.

[0135] In this case, when the first initial distance does not match the second distance, the first initial distance is superimposed with the printed wire diameter or product wall thickness to obtain the second initial distance.

[0136] When the first initial distance does not match the second distance, it means that the first initial distance may not be measured accurately enough, or the first initial distance is the distance between the print head and the printed product measured by the distance meter.

[0137] In particular, when using a laser light meter or other methods to measure distance, if the laser hits the printed wire or the wall of the printed product, the first initial distance measured will be the distance between the print head and the wire attached to the rotating rod or the wall of the product, which makes the first distance incorrect and affects the detection result of the rotating rod.

[0138] When the second initial distance matches the first distance, the second initial distance is used as the first distance.

[0139] In this embodiment, the situation where the laser hits the printing wire or the wall of the product is excluded, so that the measured first distance can accurately reflect the actual distance between the printing nozzle and the rotating rod, and the distance measurement error caused by the laser hitting the printing wire or the wall of the product is eliminated, so that the measured first distance is the accurate actual distance between the printing nozzle and the rotating rod, thereby improving the accuracy and reliability of the measurement.

[0140] The printing control device for implantable and interventional instruments provided by the present invention is described below. The printing control device for implantable and interventional instruments described below and the printing control method for implantable and interventional instruments described above can be referred to each other.

[0141] like Figure 3As shown, the printing control device for implantable and interventional instruments according to the embodiment of the present invention mainly includes a distance measurement module 310 , a positioning module 320 , a first processing module 330 and a second processing module 340 .

[0142] The distance measuring module 310 is used to measure the distance of the rotating rod by a distance meter whose installation position is associated with the installation position of the print head when the print head extrude the printing material for printing, so as to obtain a plurality of first distances between the print head and the rotating rod;

[0143] The positioning module 320 is used to obtain an image of the print head when the rangefinder measures the distance of the rotating rod through an image acquisition device, and obtain multiple real-time projection positions of the print head on the plane where the reference plane is located; the projection positions correspond to the first distance one by one;

[0144] The first processing module 330 is used to determine the detection result of the rotating rod based on the real-time projection position of the print head on the plane where the reference plane is located, the preset printing trajectory of the print head and the first distance;

[0145] The second processing module 340 is used to adjust the printing parameters of the print head based on the detection result of the rotating rod and the multiple first distances of the rotating rod. The printing parameters include at least one of the height, wire output speed, movement trajectory and movement speed of the print head.

[0146] According to the printing control device for implantable and interventional instruments provided by the embodiment of the present invention, the distance between the print nozzle and the rotating rod is measured in real time by a rangefinder. Combined with the real-time projection position of the print nozzle obtained by the image acquisition device, the position of the print nozzle can be accurately determined, and the detection result of the rotating rod is obtained. Then, based on the detection result of the rotating rod and the multiple first distances of the rotating rod, the printing parameters of the print nozzle can be dynamically adjusted in real time, thereby adapting to various changes occurring during the printing process, and further improving the printing effect and product quality.

[0147] The embodiment of the present invention also provides an implantation / interventional device, comprising at least one layer of tubular structure, wherein the tubular structure is a tubular structure with a completely closed wall or a porous tubular structure.

[0148] The tubular structure is printed by the above-mentioned multi-axis printing system, and the printed tubular structure is sleeved on the rotating rod of the multi-axis printing system; during the printing process, the tubular structure is printed by adjusting the printing parameters of the printing nozzle of the multi-axis printing system by the printing control method of any of the above-mentioned implants and interventional instruments.

[0149] Figure 4 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 4As shown, the electronic device may include: a processor (processor) 410 , a communication interface (Communications Interface) 420 , a memory (memory) 430 and a communication bus 440 , wherein the processor 410 , the communication interface 420 , and the memory 430 communicate with each other through the communication bus 440 . The processor 410 can call the logic instructions in the memory 430 to execute the printing control method of implantable and interventional instruments, which method includes: when the print head extrudes the printing material for printing, the rotating rod is measured by a rangefinder whose installation position is associated with the installation position of the print head to obtain multiple first distances between the print head and the rotating rod; through an image acquisition device, an image of the print head when the rangefinder measures the rotating rod is obtained to obtain multiple real-time projection positions of the print head on the plane where the reference plane is located; the projection position corresponds to the first distance one by one; based on the real-time projection position of the print head on the plane where the reference plane is located, the preset printing trajectory of the print head and the first distance, the detection result of the rotating rod is determined; based on the detection result of the rotating rod and the multiple first distances of the rotating rod, the printing parameters of the print head are adjusted, and the printing parameters include at least one of the height of the print head, the wire output speed, the moving trajectory and the moving speed.

[0150] In addition, the logic instructions in the above-mentioned memory 430 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0151] On the other hand, the present invention also provides a computer program product, which includes a computer program, which can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the printing control method of the implantable and interventional instruments provided by the above methods, the method comprising: when the print head extrudes the printing material for printing, the rotating rod is measured by a rangefinder whose installation position is associated with the installation position of the print head, so as to obtain multiple first distances between the print head and the rotating rod; through an image acquisition device, an image of the print head when the rangefinder measures the rotating rod is obtained, so as to obtain multiple real-time projection positions of the print head on the plane where the reference plane is located; the projection position corresponds to the first distance one by one; based on the real-time projection position of the print head on the plane where the reference plane is located, the preset printing trajectory of the print head and the first distance, the detection result of the rotating rod is determined; based on the detection result of the rotating rod and the multiple first distances of the rotating rod, the printing parameters of the print head are adjusted, and the printing parameters include at least one of the height of the print head, the wire output speed, the moving trajectory and the moving speed.

[0152] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the printing control method for implantable and interventional instruments provided by the above-mentioned methods, the method comprising: when a print head extrudes printing material for printing, measuring the distance of a rotating rod by a rangefinder whose installation position is associated with the installation position of the print head, and obtaining a plurality of first distances between the print head and the rotating rod; obtaining an image of the print head when the rangefinder measures the distance of the rotating rod by an image acquisition device, and obtaining a plurality of real-time projection positions of the print head on the plane where the reference plane is located; the projection position corresponds to the first distance one by one; determining the detection result of the rotating rod based on the real-time projection position of the print head on the plane where the reference plane is located, the preset printing trajectory of the print head and the first distance; adjusting the printing parameters of the print head based on the detection result of the rotating rod and the plurality of first distances of the rotating rod, the printing parameters including at least one of the height of the print head, the wire output speed, the moving trajectory and the moving speed.

[0153] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0154] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0155] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A printing control method for an implantable or interventional device, characterized in that: Applied to a multi-axis printing system, the multi-axis printing system comprises an xyz three-axis moving system, a print head, and a rotating rod connected to a base of the multi-axis printing system below the print head, the print head is used to extrude printing material under the drive of the three-axis moving system to adhere to the rotating rod in a rotating state and / or a moving state, the implantable or interventional device comprises at least one layer of tubular structure, the tubular structure is a tubular structure with a completely closed wall or a porous tubular structure; the method comprises: When the print head extrude printing material for printing, the rotating rod is measured by a distance meter whose installation position is associated with the installation position of the print head to obtain a plurality of first distances between the print head and the rotating rod; By means of an image acquisition device, an image of the print head when the rangefinder measures the distance of the rotating rod is acquired, and a plurality of real-time projection positions of the print head on the plane where the reference plane is located are obtained; the projection positions correspond one to one with the first distance; Determine the detection result of the rotating rod based on the real-time projection position of the printing head on the plane where the reference plane is located, the preset printing trajectory of the printing head, and the first distance; Based on the detection result of the rotating rod and the multiple first distances of the rotating rod, adjusting the printing parameters of the printing nozzle, the printing parameters including at least one of the height, wire output speed, moving trajectory and moving speed of the printing nozzle; The step of determining the detection result of the rotating rod based on the real-time projection position of the print head on the plane where the reference plane is located, the preset printing track of the print head, and the first distance includes: Determining a desired projection position of the print head on the plane where the reference plane is located based on a preset print trajectory of the print head; In a case where the expected projection position is consistent with the real-time projection position, determining, based on the preset printing trajectory, an expected second distance between the print head and the rotating rod when the rangefinder measures the distance of the rotating rod; When the second distance matches the first distance, determining that the detection result of the rotating rod is that the rotating rod has not deviated; The detection result of the rotating rod is also determined by: When the expected projection position does not match the real-time projection position, or when the second distance does not match the first distance, it is determined that the detection result of the rotating rod is that the rotating rod has deviated.

2. The printing control method for implantable and interventional devices according to claim 1, characterized in that: The detection result of the rotating rod is also determined by: When the expected projection position matches the real-time projection position and the second distance does not match the first distance, it is determined that the detection result of the rotating rod is that the rotating rod is shifted in the up-down direction.

3. The printing control method for implantable and interventional devices according to claim 1, characterized in that: The detection result of the rotating rod is also determined by: When the expected projection position does not match the real-time projection position and the second distance matches the first distance, it is determined that the detection result of the rotating rod is that the rotating rod is positionally offset in the left-right direction.

4. The printing control method for implantable and interventional devices according to claim 1, characterized in that: The detection result of the rotating rod is also determined by: When the expected projection position does not match the real-time projection position and the second distance does not match the first distance, it is determined that the detection result of the rotating rod is that the rotating rod is positionally offset in both the up-down direction and the left-right direction.

5. The printing control method for implantable and interventional devices according to claim 1, characterized in that: The distance measuring device, whose installation position is associated with the installation position of the print head, measures the distance of the rotating rod to obtain a plurality of first distances between the print head and the rotating rod, including: Measuring the distance of the rotating rod by a distance meter whose installation position is associated with the installation position of the print head, to obtain a plurality of first initial distances between the print head and the rotating rod; In the case where the first initial distance does not match the second distance, the first initial distance is superimposed with the printed wire diameter or product wall thickness to obtain the second initial distance; the second distance is the expected distance between the printing nozzle and the rotating rod when the distance meter determined based on the preset printing trajectory measures the rotating rod; When the second initial distance matches the second distance, the second initial distance is used as the first distance.

6. A printing control device for implantable and interventional instruments, characterized in that: The printing control device for implantable and interventional instruments is applied to a multi-axis printing system, wherein the multi-axis printing system comprises an xyz three-axis moving system, a printing nozzle, and a rotating rod connected to a base of the multi-axis printing system below the printing nozzle, wherein the printing nozzle is used to extrude printing materials under the drive of the three-axis moving system to adhere to the rotating rod in a rotating state and / or a moving state, wherein the implantable and interventional instruments comprises at least one layer of tubular structure, wherein the tubular structure is a tubular structure with a completely closed wall or a porous tubular structure; the printing control device for implantable and interventional instruments adopts the printing control method for implantable and interventional instruments as claimed in any one of claims 1 to 5 to adjust the printing parameters of the printing nozzle of the multi-axis printing system, wherein the printing control device for implantable and interventional instruments comprises: a distance measuring module, configured to measure the distance of the rotating rod by a distance meter whose installation position is associated with the installation position of the printing nozzle, when the printing nozzle extrude the printing material for printing, to obtain a plurality of first distances between the printing nozzle and the rotating rod; A positioning module, used to obtain, through an image acquisition device, an image of the print head when the rangefinder measures the distance of the rotating rod, and obtain a plurality of real-time projection positions of the print head on the plane where the reference plane is located; the projection positions correspond one to one with the first distance; A first processing module, configured to determine a detection result of the rotating rod based on a real-time projection position of the print head on the plane where the reference plane is located, a preset printing track of the print head, and the first distance; The second processing module is used to adjust the printing parameters of the printing head based on the detection result of the rotating rod and the multiple first distances of the rotating rod, and the printing parameters include at least one of the height, wire output speed, movement trajectory and movement speed of the printing head.

7. An implantable or interventional device, characterized in that: It comprises at least one layer of tubular structure, wherein the tubular structure is a tubular structure with a completely closed wall or a porous tubular structure; The tubular structure is printed by the multi-axis printing system as described in claim 1, and the printed tubular structure is sleeved on the rotating rod of the multi-axis printing system; during the printing process, the tubular structure is printed by adjusting the printing parameters of the printing nozzle of the multi-axis printing system by using the printing control method for implantable and interventional instruments as described in any one of claims 1 to 5.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, characterized in that: When the processor executes the program, the printing control method for implantable or interventional devices as described in any one of claims 1 to 5 is implemented.

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