Tubular structure printing method and device, computer equipment and storage medium

Abstract

The invention relates to the technical field of tubular structure printing, and discloses a tubular structure printing method and device, computer equipment and a storage medium. The method comprises the steps that a to-be-printed three-dimensional model is obtained; segmenting according to the three-dimensional model to obtain each to-be-printed structure; printing is conducted according to a preset coaxial channel, a preset supporting channel and all the to-be-printed structures, a target structure is obtained, the coaxial channel adopts a coaxial needle, the coaxial channel is used for printing a pipeline of the target structure, and the supporting channel is used for printing a supporting structure for supporting the target structure; through the coaxial channel and the supporting channel, all the to-be-printed structures obtained through segmentation can be printed, the target structure is rapidly obtained, the printing efficiency is improved, and the coaxial needle head can make pipelines of the target structure connected in parallel.

Description

Technical Field

[0001] The present invention relates to the technical field of tubular structure printing, and in particular to a tubular structure printing method, device, computer equipment and storage medium. Background Art

[0002] When printing radial multi-layer structures, such as multi-layer tubular structures, nozzles need to be frequently replaced and lines are stacked, resulting in low printing efficiency. Summary of the invention

[0003] Based on this, it is necessary to address the technical problem of the prior art of printing tubular structures, which is time-consuming and inefficient, and propose a tubular structure printing method, device, computer equipment and storage medium.

[0004] In a first aspect, a method for printing a tubular structure is provided, the method comprising:

[0005] Obtaining a three-dimensional model to be printed;

[0006] Segmenting the three-dimensional model to obtain various structures to be printed;

[0007] Printing is performed according to the preset coaxial channel, the preset supporting channel and each structure to be printed to obtain a target structure, wherein the coaxial channel uses a coaxial needle, the coaxial channel is used to print the pipeline of the target structure, and the supporting channel is used to print the supporting structure that supports the target structure.

[0008] In a second aspect, a tubular structure printing device is provided, the device comprising:

[0009] An acquisition module, used for acquiring a three-dimensional model to be printed;

[0010] A segmentation module, used to segment the three-dimensional model to obtain various structures to be printed;

[0011] The printing module is used to print according to the preset coaxial channel, the preset supporting channel and each structure to be printed to obtain a target structure, wherein the coaxial channel uses a coaxial needle, the coaxial channel is used to print the pipeline of the target structure, and the supporting channel is used to print the supporting structure supporting the target structure.

[0012] In a third aspect, a computer device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above-mentioned tubular structure printing method when executing the computer program.

[0013] In a fourth aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned tubular structure printing method are implemented.

[0014] The tubular structure printing method proposed in the present invention obtains a three-dimensional model to be printed, then segments it according to the three-dimensional model to obtain various structures to be printed, and finally prints according to a preset coaxial channel, a preset support channel and each structure to be printed to obtain a target structure, wherein the coaxial channel adopts a coaxial needle, the coaxial channel is used to print the pipeline of the target structure, and the support channel is used to print the support structure supporting the target structure. Through the coaxial channel and the support channel, each structure to be printed obtained by segmentation can be printed to quickly obtain the target structure, thereby improving the printing efficiency, and the coaxial needle can make the pipeline of the target structure connected in parallel. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only 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.

[0016] in:

[0017] Figure 1 A diagram showing an application environment of a method for printing a tubular structure in one embodiment;

[0018] Figure 2 is a flow chart of a method for printing a tubular structure in one embodiment;

[0019] Figure 3 A first schematic diagram of a target structure of a method for printing a tubular structure in one embodiment;

[0020] Figure 4 A second schematic diagram of a target structure of a method for printing a tubular structure in one embodiment;

[0021] Figure 5 A third schematic diagram of a target structure of a method for printing a tubular structure in one embodiment;

[0022] Figure 6 A fourth schematic diagram of a target structure of a method for printing a tubular structure in one embodiment;

[0023] Figure 7 A fifth schematic diagram of a target structure of a method for printing a tubular structure in one embodiment;

[0024] Figure 8 A sixth schematic diagram of a target structure of a method for printing a tubular structure in one embodiment;

[0025] Fig. 9 is a structural block diagram of a tubular structure printing device in one embodiment;

[0026] Fig.10 is a structural block diagram of a computer device in one embodiment;

[0027] Fig.11 is a structural block diagram of a computer device in another embodiment;

[0028] Fig.12 A first schematic diagram of a coaxial needle of a method for printing a tubular structure in one embodiment;

[0029] Fig.13 is a second schematic diagram of a coaxial needle of a method for printing a tubular structure in one embodiment;

[0030] Fig.14 A third schematic diagram of a coaxial needle for a method for printing a tubular structure in one embodiment. DETAILED DESCRIPTION

[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments 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.

[0032] The tubular structure printing method provided by the embodiment of the present invention can be applied in Figure 1In an application environment, the client 110 communicates with the server 120 through a network. The server 120 obtains a three-dimensional model to be printed, and then the server 120 performs segmentation according to the three-dimensional model to obtain each structure to be printed. Finally, the server 120 prints according to a preset coaxial channel, a preset support channel and each structure to be printed to obtain a target structure, wherein the coaxial channel uses a coaxial needle, the coaxial channel is used to print the pipe of the target structure, and the support channel is used to print the support structure supporting the target structure. The coaxial channel and the support channel can be used to print each structure to be printed obtained by segmentation, and the target structure can be quickly obtained, thereby improving the printing efficiency, and the coaxial needle can make the pipes of the target structure parallel. Among them, the client 110 can be, but is not limited to, various personal computers, laptops, smart phones, tablet computers and portable wearable devices. The server 120 can be implemented with an independent server or a server cluster consisting of multiple servers. The present invention is described in detail below through specific embodiments.

[0033] See also Figure 2 As shown, Figure 2 A schematic flow chart of a method for printing a tubular structure provided in one embodiment of the present invention includes the following steps:

[0034] Step S101: obtaining a three-dimensional model to be printed;

[0035] The three-dimensional model may be a biological tubular structure, such as a blood vessel, a renal tubule, etc. The three-dimensional model may also be a tissue or organ of a human body or an animal.

[0036] Step S102: segmenting the three-dimensional model to obtain various structures to be printed;

[0037] In this embodiment, the three-dimensional model is first segmented, and after segmentation, various structures to be printed can be obtained.

[0038] Furthermore, in one embodiment, the step of segmenting the three-dimensional model to obtain each structure to be printed includes:

[0039] Step S1021: segmenting the three-dimensional model according to the size of the three-dimensional model to obtain various hierarchical structures;

[0040] For example, when the three-dimensional model is a regular cube, the length of the three-dimensional model is divided by the first number to obtain the length of each hierarchical structure, and the three-dimensional model is divided according to the length to obtain hierarchical structures of equal length. The first number can be configured according to specific needs and is not limited here. For example, the first number can be 10.

[0041] Step S1022: cutting the layered structure according to the size of the layered structure to obtain the structures to be printed.

[0042] For example, for each hierarchical structure, according to the length of the hierarchical structure, it is divided into a preset second number of equal-length structures to be printed according to a preset second number, wherein the second number can be configured according to specific needs and is not limited here, such as the second number can be 20.

[0043] Step S103: Printing is performed according to the preset coaxial channel, the preset supporting channel and each structure to be printed to obtain a target structure, wherein the coaxial channel uses a coaxial needle, the coaxial channel is used to print the pipeline of the target structure, and the supporting channel is used to print the supporting structure supporting the target structure.

[0044] The coaxial needle includes a core needle and a shell needle arranged around the core needle, the core needle extends one end distance from the shell needle, the core needle can extrude the core sacrificial ink material, and the shell needle can extrude the shell ink material. The coaxial needle can form a bifurcated structure by using a material with similar rheological properties to puncture the wall of a section of the printed pipe structure and then fill and heal it. The coaxial channel and the support channel refer to equipment used for printing.

[0045] For example, the structure to be printed is printed through the coaxial channel and the supporting channel, and the target structure can be obtained after printing is completed.

[0046] It should be noted that the coaxial needle has the following functions during the printing process. First, insertion (from the first horizontal pipe to the first vertical pipe): Fig.12 As shown, by setting the start of the vertical pipeline at the center position of the intersection between the pipelines (Z1m), feeding and moving the coaxial needle print head to the bottom surface of the second-layer horizontal pipeline (Z2b), stopping the core structure feeding and continuing to move upward to the top surface Z of the second-layer horizontal pipeline (Z2t), a tubular structure in the Z-axis direction is constructed and the interconnection and sealing with the first-layer horizontal pipeline structure are maintained. Second, puncture (vertical pipeline of the N-1 layer to the vertical pipeline of the N layer): as shown Fig.13 As shown, by setting the start of the Nth vertical pipeline at the end of the N-1th vertical pipeline, feeding the moving print head to the bottom surface of the n+1th horizontal pipeline (Z(n+1)b) to stop the core structure feeding and continue to move upward to the top surface Z(Z(n+1)t) of the n+1th horizontal pipeline, thereby constructing a tubular structure in the Z-axis direction and maintaining the continuity and sealing of the tubular interconnection structure of the N-1th vertical pipeline, the Nth vertical pipeline and the Nth horizontal pipeline. Third, as Fig.14As shown, capping (the top vertical pipe and the top horizontal pipe): by setting the starting point of the layer-advanced coaxial needle at the end of the top vertical pipe, discharging and moving the print head of the coaxial needle to the horizontal center of the top horizontal pipe and then quickly lifting it up, the top vertical pipe and the top horizontal pipe are connected and sealed.

[0047] The tubular structure printing method proposed in this embodiment obtains a three-dimensional model to be printed, then segments it according to the three-dimensional model to obtain various structures to be printed, and finally prints according to a preset coaxial channel, a preset support channel and each structure to be printed to obtain a target structure, wherein the coaxial channel adopts a coaxial needle, the coaxial channel is used to print the pipeline of the target structure, and the support channel is used to print the support structure that supports the target structure. Through the coaxial channel and the support channel, each structure to be printed obtained by segmentation can be printed to quickly obtain the target structure, thereby improving the printing efficiency, and the coaxial needle can make the pipeline of the target structure parallel.

[0048] In one implementation, the step of printing according to the preset coaxial channel, the preset support channel and each of the structures to be printed to obtain the target structure includes:

[0049] Step S1031: sorting the hierarchical structure and the structures to be printed corresponding to the hierarchical structure to obtain a sorting result;

[0050] Specifically, the hierarchical structures are sorted, and the structures to be printed corresponding to the hierarchical structures are sorted to obtain a sorting result. Specifically, the hierarchical structures are sorted in order from bottom to top, and the structures to be printed corresponding to the hierarchical structures are sorted in order from left to right, so as to obtain a sorting result, such as Figure 3 As shown, layer 1, layer 2, and layer 3 represent hierarchical structures in different orders, and L1-1, L1-2, L1-3, and L1-4 represent four ordered structures to be printed in layer 1.

[0051] Step S1032: According to the sorting result, determine the hierarchical structure with the highest sorting among the hierarchical structures as the first hierarchical structure;

[0052] In this embodiment, according to the obtained sorting results, the hierarchical structure with the highest sorting among the hierarchical structures is determined as the first hierarchical structure, for example, Figure 3 , layer 1 represents the hierarchical structure, as the first hierarchical structure.

[0053] Step S1033: Printing each of the to-be-printed structures corresponding to the first hierarchical structure according to the preset coaxial channel and the preset supporting channel to obtain a first structure;

[0054] Specifically, each of the to-be-printed structures corresponding to the first layered structure is printed through a preset coaxial channel and a preset supporting channel, thereby obtaining a first structure.

[0055] Step S1034: Determine the target structure according to the first structure and the sorting result.

[0056] For example, according to the sorting result, it can be known whether each hierarchical structure has been printed. When printing is completed, the first structure can be used as the target structure.

[0057] In one implementation, step S1033: printing each of the to-be-printed structures corresponding to the first hierarchical structure according to the preset coaxial channel and the preset support channel to obtain the first structure, further comprising:

[0058] Step A: using the to-be-printed structure corresponding to the first hierarchical structure as a first printing structure;

[0059] Specifically, each to-be-printed structure corresponding to the first hierarchical structure is used as each first printing structure.

[0060] Step B: for each of the first printing structures, determining the normal of the outer surface of the first printing structure, and determining the outer surface where the normal along the negative direction of the Z axis is located among the normal lines as the first outer surface, wherein the Z axis refers to the Z axis on the space coordinate system with the center position of the first printing structure as the coordinate origin;

[0061] Step C: determining the outer surface where the normal line perpendicular to the Z axis is located among the normal lines as the second outer surface, and determining the outer surface where the normal line along the positive direction of the Z axis is located among the normal lines as the third outer surface;

[0062] Step D: Printing the first printing structure according to the first outer surface, the second outer surface, the third outer surface, the coaxial channel and the supporting channel to obtain a first structure.

[0063] In one implementation, the step of printing the first printed structure according to the first outer surface, the second outer surface, the third outer surface, the coaxial channel, and the supporting channel to obtain the first structure includes:

[0064] Step D1: constructing a pipeline corresponding to the first outer surface through the coaxial channel to obtain a first target structure;

[0065] In this embodiment, the coaxial channel is controlled to construct the pipelines corresponding to the first outer surface of all the first printed structures to obtain the first target structure. Figure 4 As shown, Figure 4 The first outer surface of the first printed structure corresponds to a pipe.

[0066] It should be noted that the pipeline can include a shell structure and a core structure, and the cell-carrying biomaterial can be used as the main material of the shell structure. The biomaterial can be a hydrogel material, a medical polymer material, or other biocompatible materials, such as gelatin-based hydrogels, alginate-based hydrogels, and hyaluronic acid-based hydrogels. Methacrylated gelatin is used as the main material of the shell structure. The hydrogel is synthesized from a gelatin precursor, with a mass fraction of 5% to 40%, a UV initiator content of 0.05% to 1%, and the remaining components are water. The cell-carrying biomaterial is used as the main material of the core structure. The biomaterial can be a hydrogel material, a medical polymer material, or other biocompatible materials. Inorganic nanoclay is used as the main material of the coaxial printing core structure, with a content of 3% to 20%, and the remaining components are water.

[0067] Step D2: constructing a support structure on the first target structure through the support channel to obtain a second target structure;

[0068] The support channel is used to construct the support structure on the first target structure to obtain the second target structure. Figure 5 As shown, Figure 5 It is represented as building a support structure on a pipe corresponding to a first outer surface of a first printing structure. It should be noted that the support structure is used to support the first structure so that the first structure can be successfully printed.

[0069] Step D3: Obtaining a first structure based on the second outer surface, the third outer surface, the coaxial channel and the second target structure.

[0070] In one implementation, the step of obtaining the first structure based on the second outer surface, the third outer surface, the coaxial channel and the second target structure includes:

[0071] Step D31: constructing a pipeline corresponding to the second outer surface on the second target structure through the coaxial channel to obtain a third target structure;

[0072] It should be noted that the coaxial channel uses a coaxial needle. When the coaxial needle passes through the printed channel, it can tear the shell structure of the channel and connect the bio-ink in the core structure. Due to the shear-thinning properties of bio-ink, the shell structure can be easily scratched or punctured by the coaxial needle and replaced in situ by the newly extruded shell structure bio-ink.

[0073] For example, through the coaxial channel, the pipeline corresponding to the second outer surface is constructed on all the second target structures to obtain the third target structure. For example, the coaxial channel is inserted into the second target structure, and a new shell structure and core structure are extruded as the coaxial channel moves. For example, a support structure is constructed on the pipeline corresponding to the first outer surface of a first printed structure as the first single target structure. Figure 6 The structure obtained by constructing a pipeline corresponding to the second outer surface on the first single target structure is used as the second single target structure.

[0074] Step D32: constructing a pipeline corresponding to the third outer surface on the third target structure through the coaxial channel to obtain a first structure.

[0075] For example, by controlling the coaxial channel, the pipe corresponding to the third outer surface is constructed on all the third target structures to obtain the first structure. For example, the pipe corresponding to the third outer surface is first constructed, and then the coaxial channel is used for insertion to connect the third target structure with the pipe corresponding to the third outer surface. Figure 7 It is a structure obtained by constructing a pipeline corresponding to the third outer surface on the second single target structure.

[0076] Furthermore, in one embodiment, the step of determining the target structure according to the first structure and the sorting result includes:

[0077] Step E: determining whether there is a hierarchical structure that has not been printed in each hierarchical structure according to the sorting result and the first structure;

[0078] For example, the printed hierarchical structures can be known based on the first structure, and whether there are any hierarchical structures that have not been printed in the hierarchical structures can be known based on the sorting result.

[0079] Step F: If not present, taking the first structure as the target structure;

[0080] Step G: If it exists, then select the hierarchical structure with the largest ranking from the unprinted hierarchical structures as the second hierarchical structure;

[0081] For example, the unprinted hierarchical structures include layer 2 and layer 3, and layer 2 is the hierarchical structure with the largest ranking, and layer 2 is used as the second hierarchical structure.

[0082] Step H: Printing each of the to-be-printed structures corresponding to the second layered structure according to the first structure, the preset coaxial channel, and the preset support channel to obtain a second structure;

[0083] For example, Figure 8 As shown, the construction process when the target structure includes a three-layer hierarchical structure.

[0084] Specifically, on the basis of the first structure, each of the structures to be printed corresponding to the second hierarchical structure is printed through a preset coaxial channel and a preset support channel to obtain a second structure. For example, each of the structures to be printed corresponding to the second hierarchical structure is printed through a preset coaxial channel and a preset support channel to obtain a third structure. Through the coaxial channel, the first structure and the third structure can be combined to obtain the second structure. It should be noted that since the upper bottom surface of the first structure is the lower bottom surface of the third structure, the lower bottom surface of the third structure can be skipped for printing.

[0085] Step I: taking the second structure as the first structure, and returning to the step of determining whether there is a hierarchical structure that has not been printed in each hierarchical structure according to the sorting result and the first structure.

[0086] As an example, the target structure is taken out and placed in a sacrificial ink sacrificial condition environment (such as soaking in water, heating, etc.) to slowly release the sacrificial material wrapped in the shell structure.

[0087] As another example, the target structure can be placed in a UV cross-linking device for photocuring to make the gel plastic. Finally, the photocured target structure is taken out, culture medium is added, and placed in a 37°C incubator for culture to complete the final cell proliferation.

[0088] See also Fig. 9 As shown, in one embodiment, a tubular structure printing device is provided, the device comprising: an acquisition module 10, for acquiring a three-dimensional model to be printed;

[0089] A segmentation module 20, used to segment the three-dimensional model to obtain various structures to be printed;

[0090] The printing module 30 is used to print according to the preset coaxial channel, the preset supporting channel and each structure to be printed to obtain a target structure, wherein the coaxial channel uses a coaxial needle, the coaxial channel is used to print the pipeline of the target structure, and the supporting channel is used to print the supporting structure supporting the target structure.

[0091] The tubular structure printing method proposed in this embodiment obtains a three-dimensional model to be printed, then segments it according to the three-dimensional model to obtain various structures to be printed, and finally prints according to a preset coaxial channel, a preset support channel and each structure to be printed to obtain a target structure, wherein the coaxial channel adopts a coaxial needle, the coaxial channel is used to print the pipeline of the target structure, and the support channel is used to print the support structure that supports the target structure. Through the coaxial channel and the support channel, each structure to be printed obtained by segmentation can be printed to quickly obtain the target structure, thereby improving the printing efficiency, and the coaxial needle can make the pipeline of the target structure parallel.

[0092] Furthermore, in one embodiment, the segmentation module 20 is used to:

[0093] According to the length of the three-dimensional model and the preset first number, the three-dimensional model is segmented to obtain various hierarchical structures;

[0094] The layered structure is cut according to the length of the layered structure and the preset second number to obtain the structures to be printed.

[0095] Furthermore, in one embodiment, the printing module 30 is used to:

[0096] Sorting the hierarchical structure and the structures to be printed corresponding to the hierarchical structure to obtain a sorting result;

[0097] According to the sorting result, determining the hierarchical structure with the highest sorting among the hierarchical structures as the first hierarchical structure;

[0098] Printing each of the to-be-printed structures corresponding to the first hierarchical structure according to the preset coaxial channel and the preset supporting channel to obtain a first structure;

[0099] The target structure is determined according to the first structure and the sorting result.

[0100] Furthermore, in one embodiment, the printing module 30 is used to:

[0101] Using the to-be-printed structure corresponding to the first hierarchical structure as a first printing structure;

[0102] For each of the first printing structures, determine the normal of the outer surface of the first printing structure, and determine the outer surface where the normal along the negative direction of the Z axis is located among the normal lines as the first outer surface, wherein the Z axis refers to the Z axis of the space coordinate system with the center position of the first printing structure as the coordinate origin;

[0103] Determine the outer surface where the normal line perpendicular to the Z axis is located among the normal lines as the second outer surface, and determine the outer surface where the normal line along the positive direction of the Z axis is located among the normal lines as the third outer surface;

[0104] The first printing structure is printed according to the first outer surface, the second outer surface, the third outer surface, the coaxial channel, and the supporting channel to obtain a first structure.

[0105] Furthermore, in one embodiment, the printing module 30 is used to:

[0106] Constructing a pipeline corresponding to the first outer surface through the coaxial channel to obtain a first target structure;

[0107] By means of the support channel, a support structure is constructed on the first target structure to obtain a second target structure;

[0108] A first structure is obtained based on the second outer surface, the third outer surface, the coaxial channel and the second target structure.

[0109] Furthermore, in one embodiment, the printing module 30 is used to:

[0110] constructing a pipeline corresponding to the second outer surface on the second target structure through the coaxial channel to obtain a third target structure;

[0111] A pipeline corresponding to the third outer surface is constructed on the third target structure through the coaxial channel to obtain a first structure.

[0112] Furthermore, in one embodiment, the printing module 30 is used to:

[0113] According to the sorting result and the first structure, determining whether there is a hierarchical structure that has not been printed in each hierarchical structure;

[0114] If not, taking the first structure as the target structure;

[0115] If it exists, then select the hierarchical structure with the largest ranking from the hierarchical structures that have not been printed as the second hierarchical structure;

[0116] According to the first structure, the preset coaxial channel, and the preset support channel, each of the to-be-printed structures corresponding to the second layered structure is printed to obtain a second structure;

[0117] The second structure is used as the first structure, and the step of determining whether there is a hierarchical structure that has not been printed in each hierarchical structure is returned based on the sorting result and the first structure.

[0118] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Fig.10 As shown. The computer device includes a processor, a memory, a network interface and a database connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile and / or volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external client through a network connection. When the computer program is executed by the processor, it realizes the functions or steps of a service end side of a tubular structure printing method.

[0119] In one embodiment, a computer device is provided. The computer device may be a client, and its internal structure diagram may be as follows: Fig.11 As shown. The computer device includes a processor, a memory, a network interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external server through a network connection. When the computer program is executed by the processor, the functions or steps on the client side of a tubular structure printing method are implemented.

[0120] In one embodiment, a computer device is provided, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the following steps are implemented:

[0121] Obtaining a three-dimensional model to be printed;

[0122] Segmenting the three-dimensional model to obtain various structures to be printed;

[0123] Printing is performed according to the preset coaxial channel, the preset supporting channel and each structure to be printed to obtain a target structure, wherein the coaxial channel uses a coaxial needle, the coaxial channel is used to print the pipeline of the target structure, and the supporting channel is used to print the supporting structure that supports the target structure.

[0124] The tubular structure printing method proposed in this embodiment obtains a three-dimensional model to be printed, then segments it according to the three-dimensional model to obtain various structures to be printed, and finally prints according to a preset coaxial channel, a preset support channel and each structure to be printed to obtain a target structure, wherein the coaxial channel adopts a coaxial needle, the coaxial channel is used to print the pipeline of the target structure, and the support channel is used to print the support structure that supports the target structure. Through the coaxial channel and the support channel, each structure to be printed obtained by segmentation can be printed to quickly obtain the target structure, thereby improving the printing efficiency, and the coaxial needle can make the pipeline of the target structure parallel.

[0125] In one embodiment, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0126] Obtaining a three-dimensional model to be printed;

[0127] Segmenting the three-dimensional model to obtain various structures to be printed;

[0128] Printing is performed according to the preset coaxial channel, the preset supporting channel and each structure to be printed to obtain a target structure, wherein the coaxial channel uses a coaxial needle, the coaxial channel is used to print the pipeline of the target structure, and the supporting channel is used to print the supporting structure that supports the target structure.

[0129] The tubular structure printing method proposed in this embodiment obtains a three-dimensional model to be printed, then segments it according to the three-dimensional model to obtain various structures to be printed, and finally prints according to a preset coaxial channel, a preset support channel and each structure to be printed to obtain a target structure, wherein the coaxial channel adopts a coaxial needle, the coaxial channel is used to print the pipeline of the target structure, and the support channel is used to print the support structure that supports the target structure. Through the coaxial channel and the support channel, each structure to be printed obtained by segmentation can be printed to quickly obtain the target structure, thereby improving the printing efficiency, and the coaxial needle can make the pipeline of the target structure parallel.

[0130] It should be noted that the above functions or steps that can be implemented by the computer-readable storage medium or computer device can refer to the relevant descriptions on the server side and the client side in the aforementioned method embodiment. To avoid repetition, they will not be described one by one here.

[0131] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0132] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0133] The embodiments described above are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such 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, and should all be included in the protection scope of the present invention.

Claims

1. A method for printing a tubular structure, characterized in that: The tubular structure printing method comprises: Obtaining a three-dimensional model to be printed; Segmenting the three-dimensional model to obtain various structures to be printed; Printing is performed according to the preset coaxial channel, the preset supporting channel and each structure to be printed to obtain a target structure, wherein the coaxial channel uses a coaxial needle, the coaxial channel is used to print the pipeline of the target structure, and the supporting channel is used to print the supporting structure that supports the target structure.

2. The method for printing a tubular structure according to claim 1, characterized in that: The step of segmenting the three-dimensional model to obtain various structures to be printed includes: According to the size of the three-dimensional model, the three-dimensional model is segmented to obtain various hierarchical structures; The layered structure is cut according to the size of the layered structure to obtain the structures to be printed.

3. The tubular structure printing method according to claim 2, characterized in that: The step of printing according to the preset coaxial channel, the preset support channel and each structure to be printed to obtain the target structure includes: Sorting the hierarchical structure and the structures to be printed corresponding to the hierarchical structure to obtain a sorting result; According to the sorting result, determining the hierarchical structure with the highest sorting among the hierarchical structures as the first hierarchical structure; Printing each of the to-be-printed structures corresponding to the first hierarchical structure according to the preset coaxial channel and the preset supporting channel to obtain a first structure; The target structure is determined according to the first structure and the sorting result.

4. The method for printing a tubular structure according to claim 3, characterized in that: The step of printing each of the to-be-printed structures corresponding to the first hierarchical structure according to the preset coaxial channel and the preset supporting channel to obtain the first structure includes: Using the to-be-printed structure corresponding to the first hierarchical structure as a first printing structure; For each of the first printing structures, determine the normal of the outer surface of the first printing structure, and determine the outer surface where the normal along the negative direction of the Z axis is located among the normal lines as the first outer surface, wherein the Z axis refers to the Z axis of the space coordinate system with the center position of the first printing structure as the coordinate origin; Determine the outer surface where the normal line perpendicular to the Z axis is located among the normal lines as the second outer surface, and determine the outer surface where the normal line along the positive direction of the Z axis is located among the normal lines as the third outer surface; The first printing structure is printed according to the first outer surface, the second outer surface, the third outer surface, the coaxial channel, and the supporting channel to obtain a first structure.

5. The method for printing a tubular structure according to claim 4, characterized in that: The step of printing the first printed structure according to the first outer surface, the second outer surface, the third outer surface, the coaxial channel and the supporting channel to obtain the first structure includes: Constructing a pipeline corresponding to the first outer surface through the coaxial channel to obtain a first target structure; By means of the support channel, a support structure is constructed on the first target structure to obtain a second target structure; A first structure is obtained according to the second outer surface, the third outer surface, the coaxial channel and the second target structure.

6. The method for printing a tubular structure according to claim 5, characterized in that: The step of obtaining the first structure based on the second outer surface, the third outer surface, the coaxial channel and the second target structure comprises: constructing a pipeline corresponding to the second outer surface on the second target structure through the coaxial channel to obtain a third target structure; A pipeline corresponding to the third outer surface is constructed on the third target structure through the coaxial channel to obtain a first structure.

7. The method for printing a tubular structure according to claim 6, characterized in that: The step of determining the target structure according to the first structure and the sorting result includes: According to the sorting result and the first structure, determining whether there is a hierarchical structure that has not been printed in each hierarchical structure; If not, taking the first structure as the target structure; If it exists, then select the hierarchical structure with the largest ranking from the hierarchical structures that have not been printed as the second hierarchical structure; According to the first structure, the preset coaxial channel, and the preset support channel, each of the to-be-printed structures corresponding to the second layered structure is printed to obtain a second structure; The second structure is used as the first structure, and the step of determining whether there is a hierarchical structure that has not been printed in each hierarchical structure is returned based on the sorting result and the first structure.

8. A tubular structure printing device, characterized in that: The tubular structure printing device comprises: An acquisition module, used for acquiring a three-dimensional model to be printed; A segmentation module, used to segment the three-dimensional model to obtain various structures to be printed; The printing module is used to print according to the preset coaxial channel, the preset supporting channel and each structure to be printed to obtain a target structure, wherein the coaxial channel uses a coaxial needle, the coaxial channel is used to print the pipeline of the target structure, and the supporting channel is used to print the supporting structure supporting the target structure.

9. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the tubular structure printing method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the tubular structure printing method according to any one of claims 1 to 7 are implemented.

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