Biological 3D printing nozzle control method based on air pressure feedback and salivation inhibition

Abstract

The invention relates to a biological 3D printing nozzle control method based on air pressure feedback and salivation inhibition, and the method comprises the steps: obtaining the air pressure state and salivation condition of a nozzle through an air pressure sensor and a salivation detection device, determining the adjustment parameters of the nozzle according to the monitoring data and the characteristics of biological ink, and covering the air pressure, the moving speed, the extrusion amount and the like; the adjusted parameters and the monitoring data are displayed on a printing operation interface, and when the air pressure fluctuation exceeds a preset threshold value and the bio-ink characteristics are not matched with the current air pressure, the air pressure parameters are adjusted; when the drooling duration exceeds a preset threshold value and the characteristics of the bio-ink are related to drooling, the moving speed and extrusion quantity parameters are adjusted, factors such as the air pressure change trend, the drooling position and the drooling quantity are further considered, nozzle parameters are optimized by means of calculating the included angle and the length difference value of vector line segments, drooling is effectively restrained, and the air pressure is stabilized; and the biological 3D printing precision and quality are improved.

Description

Technical Field

[0001] The present invention relates to the field of 3D printing technology, and more specifically, to a biological 3D printing nozzle control method based on air pressure feedback and drooling suppression. Background Art

[0002] Bio-3D printing technology has important application prospects in the fields of tissue engineering and regenerative medicine. Its core lies in the precise control of the nozzle to achieve accurate deposition of bio-ink. However, in the existing bio-3D printing process, the air pressure control and drooling suppression of the nozzle are key problems. Air pressure fluctuations can lead to unstable extrusion of bio-ink, affecting printing accuracy and structural integrity; and drooling can cause problems such as blurred printing patterns and cell damage, reducing printing quality.

[0003] In the existing technology, air pressure control mostly adopts fixed parameters or simple feedback adjustment, which is difficult to adapt to the changes in the characteristics of different biological inks; the salivation suppression method is also relatively simple, lacking comprehensive consideration of multiple parameters such as salivation position and salivation amount. Therefore, developing a control method that can monitor the air pressure state and salivation in real time, and dynamically adjust the nozzle parameters according to the monitoring data and the characteristics of the biological ink, is of great significance to improving the accuracy and quality of biological 3D printing. Summary of the invention

[0004] In order to overcome the problems that existing biological 3D printing nozzle control methods are difficult to effectively suppress drooling and stabilize air pressure, the present invention designs a biological 3D printing nozzle control method based on air pressure feedback and drooling suppression, which can effectively solve the above technical problems.

[0005] In order to solve the above technical problems, the technical solution of the present invention is as follows:

[0006] A biological 3D printing nozzle control method based on air pressure feedback and drooling suppression includes the following steps:

[0007] Receiving monitoring data on the current air pressure state and salivation of the biological 3D printing nozzle, wherein the monitoring data is obtained by an air pressure sensor and a salivation detection device;

[0008] Determining adjustment parameters of the nozzle according to the parameters of the monitoring data and the characteristics of the bio-ink, wherein the adjustment parameters are used to adjust the air pressure, moving speed and extrusion amount of the nozzle;

[0009] Adjust and control the biological 3D printing nozzle according to the adjustment parameters;

[0010] The adjusted nozzle parameters and the current air pressure and saliva monitoring data are displayed on the printing operation interface, wherein the display position is a preset area of ​​the operation interface.

[0011] Preferably, in the case where the parameters of the monitoring data include at least the air pressure fluctuation range, the method of determining the adjustment parameters of the nozzle based on the parameters of the monitoring data and the characteristics of the biological ink includes: when the air pressure fluctuation range exceeds a preset air pressure fluctuation threshold and the viscosity and fluidity characteristics of the biological ink do not match the current air pressure, determining that the air pressure parameters of the nozzle need to be adjusted; and calculating the air pressure adjustment value as the air pressure adjustment parameter of the nozzle based on the characteristics of the biological ink and the degree of exceeding the threshold.

[0012] Preferably, in the case where the parameters of the monitoring data include at least the salivation duration, the method of determining the adjustment parameters of the nozzle based on the parameters of the monitoring data and the characteristics of the biological ink includes: when the salivation duration exceeds a preset salivation duration threshold, and the surface tension and coagulation speed characteristics of the biological ink are associated with the salivation situation, determining that the movement speed and extrusion amount parameters of the nozzle need to be adjusted; and according to the characteristics of the biological ink and the degree to which the salivation duration exceeds the threshold, calculating the reduction value of the nozzle movement speed and the reduction value of the extrusion amount as adjustment parameters.

[0013] Preferably, in the case where the parameters of the monitoring data include at least the trend of air pressure change, the method of determining the adjustment parameters of the nozzle based on the parameters of the monitoring data and the characteristics of the biological ink includes: taking the current air pressure value of the nozzle as the starting point, determining the air pressure change prediction line according to the air pressure change trend; when the air pressure change prediction line exceeds the preset air pressure safety range, and the elastic modulus and viscosity coefficient characteristics of the biological ink are affected by the air pressure, determining that the air pressure parameters of the nozzle need to be adjusted; and calculating the air pressure adjustment value as the air pressure adjustment parameter of the nozzle based on the characteristics of the biological ink and the predicted air pressure change.

[0014] Preferably, in the case where the parameters of the monitoring data include at least a drooling position and an amount of drooling, the determination of the adjustment parameters of the nozzle based on the parameters of the monitoring data and the characteristics of the biological ink includes: calculating the angle between a first vector segment and a second vector segment, wherein the first vector segment is a vector segment starting from a current position of the nozzle and ending at a drooling position, and the second vector segment is a vector segment starting from the current position of the nozzle and ending at a predicted subsequent printing position; for the case where the biological ink characteristics are affected by position and flow, in combination with the drooling amount and the biological ink characteristics, the adjustment parameters related to the subsequent printing position corresponding to the second vector segment that satisfies the conditions and can effectively suppress drooling after considering the drooling amount and the biological ink characteristics are determined as the movement speed and direction adjustment parameters of the nozzle; and at the same time, the extrusion amount adjustment parameters are calculated based on the drooling amount and the viscosity characteristics of the biological ink.

[0015] Preferably, the adjustment parameters related to the subsequent printing position corresponding to the second vector line segment whose angle between the first vector line segments satisfies the conditions and can effectively suppress drooling after considering the amount of drooling and the characteristics of the biological ink are determined as the adjustment parameters of the movement speed and direction of the nozzle, including: if there are multiple second vector line segments and the first vector line segment whose angles all meet the conditions, calculating the length difference between the multiple second vector line segments and the first vector line segment; in combination with the amount of drooling and the characteristics of the biological ink, preferentially selecting the adjustment parameters related to the subsequent printing position corresponding to the second vector line segment with a smaller length difference and which can enable the nozzle to quickly avoid the drooling area, and determining them as the adjustment parameters of the movement speed and direction of the nozzle.

[0016] An electronic device includes a processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the biological 3D printing nozzle control method as described above are implemented.

[0017] A readable storage medium stores a program or instruction, and when the program or instruction is executed by a processor, the steps of the biological 3D printing nozzle control method as described above are implemented.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows: by receiving the monitoring data obtained by the air pressure sensor and the drooling detection device, the air pressure state and drooling of the nozzle are mastered, the adjustment parameters are determined according to the monitoring data parameters and the characteristics of the biological ink, and the nozzle air pressure, movement speed and extrusion amount are adjusted in a targeted manner. When the air pressure fluctuation range exceeds the preset threshold and the characteristics of the biological ink do not match the air pressure, the air pressure adjustment value is calculated to keep the nozzle air pressure stable, avoiding printing quality problems caused by unstable air pressure. For the drooling problem, if the drooling duration exceeds the threshold and the characteristics of the biological ink are related to the drooling, the nozzle movement speed is calculated. The speed reduction value and the extrusion volume reduction value can effectively suppress drooling and ensure printing accuracy. In addition, the factors such as the air pressure change trend, drooling position and drooling amount are comprehensively considered to further optimize the nozzle parameter adjustment, such as calculating the vector line segment angle, and giving priority to selecting appropriate parameters to make the nozzle quickly avoid the drooling area. At the same time, the extrusion volume is adjusted in combination with the drooling amount and the characteristics of the biological ink to solve the drooling and air pressure problems, improve the quality and stability of biological 3D printing, reduce the printing failure rate, and reduce material waste. It is of great significance to the development and application of biological 3D printing technology, and can better meet the needs of the biomedical field for high-precision and high-quality printing. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived based on the provided drawings without paying any creative work.

[0020] Figure 1 This is a step-by-step diagram of a biological 3D printing nozzle control method based on air pressure feedback and drooling suppression. DETAILED DESCRIPTION

[0021] The drawings are for illustrative purposes only and should not be construed as limiting the present patent;

[0022] In order to better illustrate the present embodiment, some parts in the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product;

[0023] It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0024] The technical solution of the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0025] Example

[0026] Hardware preparation: A biological 3D printer model BPS300 was selected. The printer is equipped with a high-precision biological 3D printing nozzle with a diameter of 0.4mm and an applicable temperature range of 20-80℃. The nozzle is specially designed to perfectly match the air pressure sensor and drooling detection device. A PQ15 air pressure sensor with an accuracy of 0.01kPa is installed inside the nozzle. It can measure the air pressure changes inside the nozzle in real time and accurately. The probe of this sensor is in direct contact with the inner cavity of the nozzle to ensure that the most realistic air pressure data can be detected. A drooling detection device is installed, including a high-resolution camera and a photosensor located under the nozzle. The camera can capture the image near the nozzle at a speed of 60 frames per second, and the photosensor can detect the blocking of light by the liquid generated by drooling. The combination of the two can accurately determine the occurrence of drooling, its duration, the amount of drooling and other data.

[0027] Software preparation: Install a special printing control software on the control computer connected to the biological 3D printer. The software has a data acquisition module, a parameter adjustment module and an interface display module. The data acquisition module can read the data sent back by the air pressure sensor and the drooling detection device in real time. These data will be stored in the internal database of the software for subsequent analysis and adjustment. The parameter adjustment module has a built-in complex algorithm for calculating the most appropriate nozzle adjustment parameters based on the air pressure fluctuation range, drooling duration, air pressure change trend, drooling position, drooling amount and other monitoring data, and combined with the characteristics of the biological ink, such as viscosity, fluidity, surface tension, coagulation speed, elastic modulus, viscosity coefficient, etc. The interface display module is responsible for presenting the adjusted nozzle parameters and the current air pressure and drooling monitoring data on the operation interface in a concise and clear manner.

[0028] Prepare bio-ink: Make sure the bio-ink has been prepared according to a specific formula and stored under suitable temperature and light conditions to ensure its stable performance. The main components of this bio-ink include highly biocompatible polymers, specific cell culture fluids, and cells to be printed. Its viscosity is 1000cP, fluidity is moderate, surface tension is 40dyn / cm, solidification speed is about 5 minutes, elastic modulus is 10kPa, and viscosity coefficient is 0.1Ns / m 2 , put the bio-ink into the ink storage container of the nozzle, ensure that the connecting pipe between the ink container and the nozzle is unobstructed and well sealed to prevent ink leakage during the printing process.

[0029] Preheat the nozzle and printing platform: Turn on the biological 3D printer, start the preheating program of the nozzle and printing platform, set the temperature of the nozzle to 50℃, and the temperature of the printing platform to 30℃. The preheating time depends on the heating speed of the equipment, and generally takes 15-20 minutes. The purpose of preheating is to make the nozzle and platform reach a temperature environment suitable for the fluid performance of the biological ink and the maintenance of cell activity, so as to prepare for subsequent printing operations.

[0030] Biological 3D printing nozzle control method based on air pressure feedback and drooling suppression, please refer to Figure 1 , including the following steps:

[0031] Receiving monitoring data on the current air pressure state and salivation of the biological 3D printing nozzle, wherein the monitoring data is obtained by an air pressure sensor and a salivation detection device;

[0032] Determining adjustment parameters of the nozzle according to the parameters of the monitoring data and the characteristics of the bio-ink, wherein the adjustment parameters are used to adjust the air pressure, moving speed and extrusion amount of the nozzle;

[0033] Adjust and control the biological 3D printing nozzle according to the adjustment parameters;

[0034] The adjusted nozzle parameters and the current air pressure and saliva monitoring data are displayed on the printing operation interface, wherein the display position is a preset area of ​​the operation interface.

[0035] In the case where the parameters of the monitoring data include at least the air pressure fluctuation range, determining the adjustment parameters of the nozzle based on the parameters of the monitoring data and the characteristics of the biological ink includes: when the air pressure fluctuation range exceeds a preset air pressure fluctuation threshold and the viscosity and fluidity characteristics of the biological ink do not match the current air pressure, determining that the air pressure parameters of the nozzle need to be adjusted; and calculating the air pressure adjustment value as the air pressure adjustment parameter of the nozzle based on the characteristics of the biological ink and the degree of exceeding the threshold.

[0036] When the system starts to print a complex tissue model, at the beginning of printing, the air pressure will fluctuate briefly because the nozzle suddenly starts working. The air pressure sensor detects that the nozzle air pressure rises from 10kPa to 12kPa, and then drops to 9kPa, with a fluctuation range of 3kPa. Under normal circumstances, the preset air pressure fluctuation threshold is 1kPa. At this time, the fluctuation range obviously exceeds the threshold. Moreover, according to the characteristics of biological ink, this drastic air pressure fluctuation will cause the fluidity and viscosity characteristics of the ink to change, thereby affecting the printing accuracy and uniform deposition of cells.

[0037] The parameter adjustment module intervenes. It determines the need to adjust the nozzle air pressure parameters based on the viscosity and fluidity characteristics of the bio-ink and the degree of exceeding the threshold (3kPa>1kPa, exceeding 2kPa). 2 ) and other characteristics, a more reasonable air pressure adjustment value is calculated. After calculation, it is concluded that the nozzle air pressure needs to be adjusted to 10.5kPa. This can effectively balance the fluidity and viscosity of the ink, allowing it to be extruded stably and smoothly during the printing process, while reducing the risk of cell damage caused by air pressure fluctuations.

[0038] The print head works according to the adjusted air pressure parameter (10.5kPa). The air pressure fluctuation during printing is effectively suppressed. The air pressure sensor monitors the air pressure in real time and it is stable in the range of 10.4-10.6kPa, which is far lower than the preset safety range (10±0.5kPa). The air pressure change prediction line also remains within the safety range. At this time, the preset display area on the operation interface of the printing interface clearly shows that the current air pressure is 10.5kPa, and the adjusted print head air pressure parameter is 10.5kPa, ensuring that the operator can understand the status of the print head in real time.

[0039] In the case where the parameters of the monitoring data include at least the duration of salivation, determining the adjustment parameters of the nozzle based on the parameters of the monitoring data and the characteristics of the biological ink includes: determining that the movement speed and extrusion amount parameters of the nozzle need to be adjusted when the salivation duration exceeds a preset salivation duration threshold and the surface tension and coagulation speed characteristics of the biological ink are associated with the salivation situation; and calculating the nozzle movement speed reduction value and the extrusion amount reduction value as adjustment parameters based on the characteristics of the biological ink and the degree to which the salivation duration exceeds the threshold.

[0040] During the printing process, when the nozzle moves from one printing point to another, drooling is likely to occur. For example, when printing a continuous heart model, the camera and photosensitive sensor in the drooling detection device detected that liquid was flowing out of the nozzle during movement. The drooling lasted for 8 seconds, and the preset drooling time threshold was 2 seconds. This indicated that the drooling phenomenon had seriously affected the printing quality, which would not only cause excess bio-ink accumulation on the model surface, but also cause positioning errors in subsequent printing layers.

[0041] The parameter adjustment module determines that the nozzle movement speed and extrusion volume parameters need to be adjusted according to the salivation duration (8s), the surface tension of the bio-ink (40dyn / cm) and the coagulation speed characteristics (5 minutes coagulation time). Combined with the elastic modulus and viscosity coefficient characteristics of the bio-ink, as well as the degree to which the salivation duration exceeds the threshold (6s exceeded), the system calculates the nozzle movement speed reduction value and the extrusion volume reduction value. The calculation result is that the nozzle movement speed is reduced from the original 20mm / s to 15mm / s, and the extrusion volume is reduced from 50mL per minute to 45mL. This adjustment can reduce the outflow of ink during movement, allowing the nozzle to stop extruding ink more quickly during movement, thereby shortening the salivation duration.

[0042] The adjusted nozzle movement speed and extrusion volume parameters were immediately applied to the printing operation. In the subsequent point-to-point movement process, the drooling duration was significantly shortened and controlled at about 2.5 seconds, close to the preset threshold. The drooling volume was also reduced, and the surface quality of the model was significantly improved. The printing interface dynamically updated the current nozzle movement speed (15mm / s), extrusion volume (45mL / min) and drooling duration (2.5s) in the preset display area, so that the operator can intuitively see whether the printer is in normal working condition.

[0043] In the case where the parameters of the monitoring data include at least the trend of air pressure change, determining the adjustment parameters of the nozzle based on the parameters of the monitoring data and the characteristics of the bio-ink includes: taking the current air pressure value of the nozzle as the starting point, determining the air pressure change prediction line according to the air pressure change trend; when the air pressure change prediction line exceeds the preset air pressure safety range, and the elastic modulus and viscosity coefficient characteristics of the bio-ink are affected by the air pressure, determining that the air pressure parameters of the nozzle need to be adjusted; and calculating the air pressure adjustment value as the air pressure adjustment parameter of the nozzle based on the characteristics of the bio-ink and the predicted air pressure change.

[0044] In the case where the parameters of the monitoring data include at least a drooling position and an amount of drooling, the adjustment parameters of the nozzle determined according to the parameters of the monitoring data and the characteristics of the biological ink include: calculating the angle between a first vector line segment and a second vector line segment, wherein the first vector line segment is a vector line segment starting from a current position of the nozzle and ending at a drooling position, and the second vector line segment is a vector line segment starting from the current position of the nozzle and ending at a predicted subsequent printing position; for the situation where the biological ink characteristics are affected by position and flow, in combination with the drooling amount and the biological ink characteristics, the adjustment parameters related to the subsequent printing position corresponding to the second vector line segment that satisfies the conditions and can effectively suppress drooling after considering the drooling amount and the biological ink characteristics are determined as the movement speed and direction adjustment parameters of the nozzle; and at the same time, the extrusion amount adjustment parameters are calculated according to the drooling amount and the viscosity characteristics of the biological ink.

[0045] The adjustment parameters related to the subsequent printing position corresponding to the second vector line segment whose angle between the first vector line segments meets the conditions and can effectively suppress drooling after considering the amount of drooling and the characteristics of the biological ink are determined as the adjustment parameters of the movement speed and direction of the nozzle, including: if there are multiple second vector line segments and the first vector line segment whose angles meet the conditions, calculating the length difference between the multiple second vector line segments and the first vector line segment; based on the amount of drooling and the characteristics of the biological ink, preferentially selecting the adjustment parameters related to the subsequent printing position corresponding to the second vector line segment with a smaller length difference and which can enable the nozzle to quickly avoid the drooling area, and determining them as the adjustment parameters of the movement speed and direction of the nozzle.

[0046] When printing a more complex three-dimensional heart model, due to the particularity of the model structure, the nozzle needs higher precision and stability in printing certain parts. At this time, the air pressure sensor detects that the nozzle air pressure change trend shows irregular fluctuations, from 10kPa to 15kPa and then drops to 7kPa. The air pressure change prediction line has obviously exceeded the preset air pressure safety range (8-12kPa). At the same time, the drooling detection device also detects that the drooling position of the nozzle is dispersed during the movement, and the drooling amount is relatively large.

[0047] The parameter adjustment module comprehensively considers the pressure change trend, drooling position, drooling amount and other factors. On the one hand, it takes the current nozzle pressure value as the starting point, determines the pressure change prediction line according to the pressure change trend, and finds that the pressure change trend exceeds the safety range, and the elastic modulus (10kPa) and viscosity coefficient (0.1Ns / m 2 ) characteristics are greatly affected by air pressure. Therefore, the air pressure adjustment value must be calculated strictly according to the air pressure adjustment rules to adjust the air pressure to 11 kPa to return it to a safe range. On the other hand, in order to deal with the drooling problem, the system calculates the first vector line segment (from the current position of the nozzle to the drooling position) and multiple possible second vector line segments (from the current position of the nozzle to different subsequent printing positions). For example, assuming that the current position of the nozzle is the coordinate origin (0, 0), the drooling position is at (1, 2), and the predicted subsequent printing positions are at (3, 4), (2, 1), (-1, 3), etc. The angles between the first vector line segment and each second vector line segment are calculated, where the angle with the position (3, 4) is 45 degrees, the angle with the position (2, 1) is 30 degrees, and the angle with the position (-1, 3) is 105 degrees. At the same time, the length difference between each second vector line segment and the first vector line segment is calculated. The distance difference between (3, 4) and (1, 2) is The distance difference between (2, 1) and (1, 2) is The distance difference between (-1, 3) and (1, 2) is Combined with the amount of drooling (relatively large) and the characteristics of the bio-ink, the subsequent printing position corresponding to the second vector line segment with a smaller length difference and an angle that meets the conditions, such as an angle less than 60 degrees, is preferentially selected. Finally, the relevant adjustment parameters of the (2, 1) position are determined as the movement speed and direction adjustment parameters of the nozzle. At the same time, based on the large amount of drooling and the viscosity of the bio-ink, it is calculated that the extrusion volume should be further reduced to 40 mL / min. After this adjustment, the nozzle can avoid the drooling area more quickly during movement, while reducing the extrusion of ink to effectively suppress drooling and improve the accuracy of the printed product.

[0048] The adjusted nozzle parameters (air pressure 11kPa, reduced moving speed, direction adjusted to (2, 1) position, extrusion volume 40mL / min) were applied to the printing operation. The air pressure fluctuation was effectively controlled and the air pressure was stabilized within the range of 10.5-11.5kPa; the drooling phenomenon was significantly alleviated, the drooling duration was controlled to about 1 second, and the drooling amount was greatly reduced. The printing interface displayed the current air pressure and drooling monitoring data in detail in the preset display area, as well as the adjusted nozzle parameters. The operator can not only monitor the printer status in real time through these data, but also further optimize the printing parameters according to the actual situation to ensure high-quality biological 3D printing effects.

[0049] An electronic device includes a processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the above-mentioned biological 3D printing nozzle control method are implemented.

[0050] A readable storage medium stores a program or instruction, and when the program or instruction is executed by a processor, the steps of the biological 3D printing nozzle control method as described above are implemented.

[0051] The same or similar reference numerals correspond to the same or similar components;

[0052] The terms used in the drawings to describe positional relationships are only used for illustrative purposes and should not be construed as limiting this patent;

[0053] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not limitations on the implementation methods of the present invention. For ordinary technicians in the relevant field, other different forms of changes or modifications can be made on the basis of the above description. It is not necessary and impossible to list all the implementation methods here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A biological 3D printing nozzle control method based on air pressure feedback and drooling suppression, characterized in that: The following steps are involved: Receiving monitoring data on the current air pressure state and salivation of the biological 3D printing nozzle, wherein the monitoring data is obtained by an air pressure sensor and a salivation detection device; Determining adjustment parameters of the nozzle according to the parameters of the monitoring data and the characteristics of the bio-ink, wherein the adjustment parameters are used to adjust the air pressure, moving speed and extrusion amount of the nozzle; Adjust and control the biological 3D printing nozzle according to the adjustment parameters; The adjusted nozzle parameters and the current air pressure and saliva monitoring data are displayed on the printing operation interface, wherein the display position is a preset area of ​​the operation interface.

2. The biological 3D printing nozzle control method according to claim 1, characterized in that: In the case where the parameters of the monitoring data include at least the air pressure fluctuation range, determining the adjustment parameters of the nozzle based on the parameters of the monitoring data and the characteristics of the biological ink includes: when the air pressure fluctuation range exceeds a preset air pressure fluctuation threshold and the viscosity and fluidity characteristics of the biological ink do not match the current air pressure, determining that the air pressure parameters of the nozzle need to be adjusted; and calculating the air pressure adjustment value as the air pressure adjustment parameter of the nozzle based on the characteristics of the biological ink and the degree of exceeding the threshold.

3. The biological 3D printing nozzle control method according to claim 2, characterized in that: In the case where the parameters of the monitoring data at least include the salivation duration, the step of determining the adjustment parameters of the nozzle according to the parameters of the monitoring data and the characteristics of the biological ink includes: When the drooling duration exceeds a preset drooling duration threshold and the surface tension and coagulation speed characteristics of the bio-ink are associated with the drooling situation, it is determined that the nozzle movement speed and extrusion volume parameters need to be adjusted; based on the characteristics of the bio-ink and the degree to which the drooling duration exceeds the threshold, the nozzle movement speed reduction value and the extrusion volume reduction value are calculated as adjustment parameters.

4. The biological 3D printing nozzle control method according to claim 3, characterized in that: In the case where the parameters of the monitoring data at least include the pressure change trend, determining the adjustment parameters of the nozzle according to the parameters of the monitoring data and the characteristics of the biological ink includes: Taking the current air pressure value of the nozzle as the starting point, the air pressure change prediction line is determined according to the air pressure change trend; when the air pressure change prediction line exceeds the preset air pressure safety range and the elastic modulus and viscosity coefficient characteristics of the bio-ink are affected by the air pressure, it is determined that the air pressure parameters of the nozzle need to be adjusted; according to the characteristics of the bio-ink and the predicted air pressure change, the air pressure adjustment value is calculated as the air pressure adjustment parameter of the nozzle.

5. The biological 3D printing nozzle control method according to claim 4, characterized in that: In the case where the parameters of the monitoring data at least include the drooling position and the drooling amount, the step of determining the adjustment parameters of the nozzle according to the parameters of the monitoring data and the characteristics of the biological ink includes: The angle between the first vector line segment and the second vector line segment is calculated, wherein the first vector line segment is a vector line segment starting from the current position of the nozzle and ending at the drooling position, and the second vector line segment is a vector line segment starting from the current position of the nozzle and ending at the predicted subsequent printing position; for the situation in which the biological ink characteristics are affected by position and flow, combined with the drooling amount and the biological ink characteristics, the adjustment parameters related to the subsequent printing position corresponding to the second vector line segment that satisfies the conditions and can effectively suppress the drooling after considering the drooling amount and the biological ink characteristics are determined as the movement speed and direction adjustment parameters of the nozzle; at the same time, the extrusion amount adjustment parameters are calculated according to the drooling amount and the viscosity characteristics of the biological ink.

6. The biological 3D printing nozzle control method according to claim 5, characterized in that: The adjustment parameters related to the subsequent printing position corresponding to the second vector line segment whose angle between the first vector line segments meets the conditions and can effectively suppress drooling after considering the amount of drooling and the characteristics of the biological ink are determined as the adjustment parameters of the movement speed and direction of the nozzle, including: if there are multiple second vector line segments and the first vector line segment whose angles meet the conditions, calculating the length difference between the multiple second vector line segments and the first vector line segment; based on the amount of drooling and the characteristics of the biological ink, preferentially selecting the adjustment parameters related to the subsequent printing position corresponding to the second vector line segment with a smaller length difference and which can enable the nozzle to quickly avoid the drooling area, and determining them as the adjustment parameters of the movement speed and direction of the nozzle.

7. An electronic device characterized in that: It comprises a processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the biological 3D printing nozzle control method as described in any one of claims 1 to 6 are implemented.

8. A readable storage medium characterized by: The readable storage medium stores a program or instruction, and when the program or instruction is executed by the processor, the steps of the biological 3D printing nozzle control method as described in any one of claims 1 to 6 are implemented.

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