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

Abstract

The application relates to the technical field of tubular structure printing, and discloses a tubular structure printing method, a tubular structure printing device, computer equipment and a storage medium.The method comprises the following steps: obtaining a three-dimensional model to be printed; segmenting the three-dimensional model to obtain various structures to be printed; and printing according to a preset coaxial channel, a preset support channel and the various structures to be printed to obtain a target structure, wherein the coaxial channel adopts a coaxial needle head, the coaxial channel is used for printing a pipeline of the target structure, and the support channel is used for printing a support structure supporting the target structure; the various structures to be printed obtained through segmentation can be printed through the coaxial channel and the support channel, the target structure can be quickly obtained, the printing efficiency is improved, and the coaxial needle head can make the pipelines of the target structure parallel.

Description

TECHNICAL FIELD

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

[0002] When printing a radial multi-layer structure, such as a multi-layer tubular structure, the nozzle needs to be frequently replaced, and there is line stacking, which is low in printing efficiency. SUMMARY

[0003] Therefore, it is necessary to propose a tubular structure printing method, device, computer device and storage medium to solve the technical problems of long time consumption and low efficiency of the prior art in printing a tubular structure.

[0004] In a first aspect, a tubular structure printing method is provided, and the method comprises the following steps:

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

[0006] segmenting the three-dimensional model to obtain each structure to be printed;

[0007] printing 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 for printing a pipeline of the target structure, and the support channel is used for printing a support structure supporting the target structure.

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

[0009] an obtaining module configured to obtain a three-dimensional model to be printed;

[0010] a segmentation module configured to segment the three-dimensional model to obtain each structure to be printed;

[0011] a printing module configured to print 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 for printing a pipeline of the target structure, and the support channel is used for printing a support structure supporting the target structure.

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

[0013] In a fourth aspect, a computer readable storage medium is provided, which stores a computer program. The computer program, when executed by a processor, implements the steps of the tubular structure printing method.

[0014] The tubular structure printing method provided by the application can obtain a three-dimensional model to be printed, then segment the three-dimensional model to obtain each structure to be printed, and finally print the target structure according to the preset coaxial channel, the preset support channel and each structure to be printed, wherein the coaxial channel adopts a coaxial needle head, the coaxial channel is used for printing a pipeline of the target structure, and the support channel is used for printing a 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, so that the target structure can be quickly obtained, the printing efficiency is improved, and the coaxial needle head can make the pipelines of the target structure parallel. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0016] In the drawings:

[0017] Figure 1 It is an application environment diagram of the tubular structure printing method in an embodiment;

[0018] Figure 2 It is a flowchart of the tubular structure printing method in an embodiment;

[0019] Figure 3 It is a first schematic diagram of the target structure of the tubular structure printing method in an embodiment;

[0020] Figure 4 It is a second schematic diagram of the target structure of the tubular structure printing method in an embodiment;

[0021] Figure 5 It is a third schematic diagram of the target structure of the tubular structure printing method in an embodiment;

[0022] Figure 6 It is a fourth schematic diagram of the target structure of the tubular structure printing method in an embodiment;

[0023] Figure 7 It is a fifth schematic diagram of the target structure of the tubular structure printing method in an embodiment;

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

[0025] Figure 9 Structure block diagram of a tubular structure printing device in one embodiment;

[0026] Figure 10 Structure block diagram of a computer device in one embodiment;

[0027] Figure 11 Structure block diagram of a computer device in another embodiment;

[0028] Figure 12 First diagram of a coaxial needle for a tubular structure printing method in one embodiment;

[0029] Figure 13 Second diagram of a coaxial needle for a tubular structure printing method in one embodiment;

[0030] Figure 14 Third diagram of a coaxial needle for a tubular structure printing method in one embodiment. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the present application.

[0032] The tubular structure printing method provided by the embodiments of the present application can be applied to, for example, Figure 1In an application environment of the application, the client 110 communicates with the server 120 through a network. The server 120 obtains a three-dimensional model to be printed, then the server 120 segments the three-dimensional model to obtain various structures to be printed, and finally the server 120 prints according to a preset coaxial channel, a preset support channel and the various structures to be printed to obtain a target structure, wherein the coaxial channel adopts a coaxial needle, the coaxial channel is used for printing a pipeline of the target structure, and the support channel is used for printing a support structure supporting the target structure. The various structures to be printed segmented can be printed through the coaxial channel and the support channel to quickly obtain the target structure, improve the printing efficiency, and the coaxial needle can make the pipelines of the target structure parallel. The client 110 can be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers and portable wearable devices. The server 120 can be implemented by an independent server or a server cluster composed of multiple servers. The application will be described in detail through specific embodiments.

[0033] Referring to Figure 2 , as shown in the figure, Figure 2 A flowchart of a tubular structure printing method provided by an embodiment of the application, comprising the following steps:

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

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

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

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

[0038] Further, in an embodiment, the step of segmenting according to the three-dimensional model to obtain various structures to be printed comprises:

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

[0040] For example, when the three-dimensional model is a regular cube, the length of the three-dimensional model is divided by a first number to obtain the length of each layered structure, and the three-dimensional model is segmented according to the length to obtain various layered structures with the same length, wherein the first number can be configured according to specific requirements, which is not limited here, such as the first number can be 10.

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

[0042] For example, for each layered structure, according to the length of the layered structure, the layered structure is divided into a preset second number of equal-length to-be-printed structures according to a preset second number, and the second number can be configured according to specific requirements, which is not limited herein, for example, the second number can be 20.

[0043] Step S103: printing according to the preset coaxial channel, the preset support channel, and each of the to-be-printed structures to obtain a target structure, wherein the coaxial channel adopts a coaxial needle, the coaxial channel is used for printing a pipeline of the target structure, and the support channel is used for printing a support 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 from the shell needle by a distance, the core needle can extrude a core sacrificial ink material, and the shell needle can extrude a shell ink material. The above coaxial needle can form a bifurcated structure by using a material with similar rheological properties to puncture the pipe wall and then fill and heal the pipe wall after the pipe structure is printed and formed. The coaxial channel and the support channel refer to a device used for printing.

[0045] For example, the to-be-printed structure is printed through the coaxial channel and the support 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 printing. First, insertion (first layer horizontal pipeline to first layer vertical pipeline): as shown in Figure 12 , by setting the start of the vertical pipeline at the center position (Z1m) of the intersection point between the pipelines, feeding and moving the print head of the coaxial needle to the bottom surface (Z2b) of the second layer horizontal pipeline to stop feeding of the core structure and continue to move upward to the top surface Z (Z2t) of the second layer horizontal pipeline, a tubular structure in the Z-axis direction is constructed and the through and sealing of the interconnected structure with the first layer horizontal pipeline is maintained. Second, puncture (N-1 layer vertical pipeline to N layer vertical pipeline): as shown in Figure 13 , by setting the start of the Nth vertical pipeline at the end of the N-1th vertical pipeline, feeding and moving the print head to the bottom surface (Z(n+1)b) of the n+1th layer horizontal pipeline to stop feeding of the core structure and continue to move upward to the top surface Z (Z(n+1)t) of the n+1th layer horizontal pipeline, a tubular structure in the Z-axis direction is constructed and the through and sealing of the interconnected structure of the N-1th vertical pipeline, the Nth vertical pipeline and the Nth layer horizontal pipeline is maintained. Third, as shown in Figure 14As shown, the top (the topmost vertical pipe and the topmost horizontal pipe) is sealed: by setting the start of the layer-by-layer coaxial needle at the end of the topmost vertical pipe, the print head is lifted quickly after discharging and moving the coaxial needle to the horizontal center of the topmost horizontal pipe to realize the connection and sealing of the topmost vertical pipe and the topmost horizontal pipe.

[0047] The tubular structure printing method provided in the embodiment comprises the following steps: obtaining a three-dimensional model to be printed; segmenting the three-dimensional model to obtain various structures to be printed; and printing the target structure according to a preset coaxial channel, a preset support channel and the various structures to be printed, wherein the coaxial channel adopts a coaxial needle, the coaxial channel is used for printing a pipe of the target structure, and the support channel is used for printing a support structure supporting the target structure. The various structures to be printed segmented can be printed through the coaxial channel and the support channel, the target structure is quickly obtained, the printing efficiency is improved, and the coaxial needle can make the pipe of the target structure in parallel.

[0048] In an implementation manner, the step of printing the target structure according to the preset coaxial channel, the preset support channel and the various structures to be printed comprises:

[0049] Step S1031: sorting the various structures to be printed corresponding to the layered structures according to the layered structures to obtain a sorting result.

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

[0051] Step S1032: determining a layered structure in the forefront of the order in the various layered structures as a first layered structure according to the sorting result.

[0052] In the embodiment, the layered structure represented by layer 1 is determined as the first layered structure according to the obtained sorting result, for example, Figure 3

[0053] Step S1033: printing the various structures to be printed corresponding to the first layered structure according to the preset coaxial channel and the preset support channel to obtain a first structure.​

[0054] Specifically, each of the to-be-printed structures corresponding to the first layered structure is printed through the preset coaxial channel and the preset support channel, so as to obtain the first structure.

[0055] Step S1034: determining 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 layered structure has been printed, and when the printing is completed, the first structure can be taken as the target structure.

[0057] In an implementation manner, the step S1033 of printing each of the to-be-printed structures corresponding to the first layered structure through the preset coaxial channel and the preset support channel to obtain the first structure further includes:

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

[0059] Specifically, each of the to-be-printed structures corresponding to the first layered structure is taken as a first printing structure.

[0060] Step B: for each first printing structure, determining a normal line of an outer surface of the first printing structure, determining an outer surface on which a normal line along a negative direction of a Z axis is located as a first outer surface in each normal line, wherein the Z axis refers to a Z axis of a space coordinate system with a center position of the first printing structure as a coordinate origin;

[0061] Step C: determining an outer surface on which a normal line perpendicular to the Z axis is located as a second outer surface in each normal line, and determining an outer surface on which a normal line along a positive direction of the Z axis is located as a third outer surface in each normal line;

[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 support channel to obtain the first structure.

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

[0064] Step D1: constructing a pipe 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 pipe corresponding to the first outer surface of all the first printing structures to obtain the first target structure. For example, as shown in FIG. 6, the first target structure is obtained by constructing the pipe corresponding to the first outer surface of each first printing structure through the coaxial channel.Figure 4 As shown, Figure 4 is a first outer surface of a first printed structure corresponding to a pipe.

[0066] It should be noted that the pipe 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 hydrogel, alginate-based hydrogel, and hyaluronic acid-based hydrogel. The main material of the shell structure is methacrylated gelatin, which is synthesized from gelatin precursor, and the mass fraction is 5% to 40%, the content of ultraviolet light initiator is 0.05% to 1%, and the remaining components are water. The main material of the core structure is a cell-carrying biomaterial, which can be a hydrogel material, a medical polymer material, or other biocompatible materials. The main material of the coaxial printing core structure is inorganic nanoclay, and the content is 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 a support structure on the first target structure, thereby obtaining a second target structure. For example, as Figure 5 As shown, Figure 5 indicates that the support structure is constructed on the pipe corresponding to the first outer surface of a first printed 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 an implementation manner, the step of obtaining a 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 pipe 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 adopts a coaxial needle, which can tear the shell structure of the pipe and connect the biomaterial ink in the core structure when the coaxial needle passes through the printed pipe. Due to the shear thinning property of the biomaterial ink, the shell structure is easily cut or pierced by the coaxial needle and is replaced in situ by the newly extruded shell structure biomaterial ink.

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

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

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

[0076] Further, in one embodiment, the step of determining the target structure based on the first structure and the sorting result includes:

[0077] Step E: Based on the sorting results and the first structure, determine whether there are any unprinted hierarchical structures in each hierarchical structure.

[0078] For example, based on the first structure, we can know the already printed hierarchical structure, and based on the sorting result, we can know whether there are any hierarchical structures that have not yet been printed.

[0079] Step F: If it does not exist, then the first structure is taken as the target structure;

[0080] Step G: If it exists, select the highest-ranking hierarchical structure from the unprinted hierarchical structures and use it as the second hierarchical structure.

[0081] For example, if there are two unprinted hierarchical structures, layer 2 and layer 3, then layer 2 is the highest-ranking hierarchical structure and is designated as the second hierarchical structure.

[0082] Step H: Based on the first structure, the preset coaxial channel, and the preset support channel, print each of the structures to be printed corresponding to the second layered structure to obtain the second structure;

[0083] For example, such as Figure 8 As shown, this illustrates 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 to-be-printed structures corresponding to the second layered structure is printed through the preset coaxial channel and the preset support channel, to obtain the second structure. For example, each of the to-be-printed structures corresponding to the second layered structure is printed through the preset coaxial channel and the preset support channel, to obtain the third structure. Through the coaxial channel, the first structure can be combined with the third structure, to obtain the second structure. It should be noted that the upper bottom surface of the first structure is the lower bottom surface of the third structure, so the lower bottom surface of the third structure can be skipped.

[0085] Step I: taking the second structure as the first structure, and returning to execute the step of determining whether there is a layered structure that has not been printed in each layered 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.), so that the sacrificial material wrapped in the shell structure is slowly released.

[0087] As another example, the target structure can be placed in an ultraviolet crosslinking instrument for photocuring, so that the gel is plasticized, and finally the photocured target structure is taken out, added to a culture medium, and placed in a 37°C incubator for culture to complete the final cell proliferation.

[0088] Please refer to Figure 9 In an embodiment, a tubular structure printing device is provided, and the device comprises: an acquisition module 10 configured to acquire a three-dimensional model to be printed;

[0089] a segmentation module 20 configured to segment the three-dimensional model to obtain each to-be-printed structure;

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

[0091] The tubular structure printing method provided in the embodiment comprises the following steps: obtaining a three-dimensional model to be printed; segmenting the three-dimensional model to obtain each structure to be printed; and printing each structure to be printed according to a preset coaxial channel, a preset support channel and the structure to be printed, to obtain a target structure. The coaxial channel is used to print a pipeline of the target structure, and the support channel is used to print a support structure supporting the target structure. The coaxial channel and the support channel are used to print each structure to be printed obtained by segmentation, so that the target structure is quickly obtained, and the printing efficiency is improved. The coaxial needle head can make the pipelines of the target structure parallel.

[0092] Further, in an embodiment, the segmentation module 20 is configured to:

[0093] segment the three-dimensional model according to a length of the three-dimensional model and a preset first number, to obtain each layered structure;

[0094] cut the layered structure according to a length of the layered structure and a preset second number, to obtain each structure to be printed.

[0095] Further, in an embodiment, the printing module 30 is configured to:

[0096] sort the layered structure and each structure to be printed corresponding to the layered structure according to the layered structure, to obtain a sorting result;

[0097] determine, according to the sorting result, a layered structure with the highest priority in each layered structure as a first layered structure;

[0098] print each structure to be printed corresponding to the first layered structure according to a preset coaxial channel and a preset support channel, to obtain a first structure;

[0099] determine the target structure according to the first structure and the sorting result.

[0100] Further, in an embodiment, the printing module 30 is configured to:

[0101] take the structure to be printed corresponding to the first layered structure as a first printed structure;

[0102] for each first printed structure, determine a normal line of an outer surface of the first printed structure, and determine an outer surface with a normal line along a negative direction of a Z axis as a first outer surface, wherein the Z axis refers to a Z axis of a space coordinate system with a center position of the first printed structure as a coordinate origin;

[0103] determining, in each of the normal lines, an outer surface on which a normal line perpendicular to the Z axis is located as a second outer surface, and determining, in each of the normal lines, an outer surface on which a normal line in the positive direction of the Z axis is located as a third outer surface;

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

[0105] Further, in an embodiment, the printing module 30 is configured to:

[0106] constructing, through the coaxial channel, a pipe corresponding to the first outer surface to obtain a first target structure;

[0107] constructing, through the support channel, a support structure on the first target structure to obtain a second target structure;

[0108] obtaining a first structure based on the second outer surface, the third outer surface, the coaxial channel and the second target structure.

[0109] Further, in an embodiment, the printing module 30 is configured to:

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

[0111] constructing, through the coaxial channel, a pipe corresponding to the third outer surface on the third target structure to obtain a first structure.

[0112] Further, in an embodiment, the printing module 30 is configured to:

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

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

[0115] if so, selecting a layer structure with the largest sorting value in the layer structure that has not been printed as a second layer structure;

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

[0117] taking the second structure as the first structure, and returning to execute the step of determining, according to the sorting result and the first structure, whether there is a layer structure that has not been printed in each layer structure.

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

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

[0120] In one embodiment, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, performs the following steps:

[0121] Obtain the 3D model to be printed;

[0122] The three-dimensional model is segmented to obtain various structures to be printed.

[0123] The target structure is obtained by printing according to the preset coaxial channel, the preset support channel and each of the structures to be printed. The coaxial channel adopts a coaxial needle and is used to print the pipe of the target structure. The support channel is used to print the support structure that supports the target structure.

[0124] The tubular structure printing method provided in the embodiment can obtain a three-dimensional model to be printed, then segment the three-dimensional model to obtain each structure to be printed, and finally print the target structure according to a preset coaxial channel, a preset support channel, and each structure to be printed, wherein the coaxial channel adopts a coaxial needle, the coaxial channel is used for printing a pipeline of the target structure, and the support channel is used for printing a 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, so that the target structure is quickly obtained, the printing efficiency is improved, and the pipelines of the target structure can be connected in parallel through the coaxial needle.

[0125] In one embodiment, a computer readable storage medium is provided, which stores a computer program. The computer program is executed by a processor to implement the following steps:

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

[0127] segmenting the three-dimensional model to obtain each structure to be printed;

[0128] printing the target structure according to a preset coaxial channel, a preset support channel, and each structure to be printed, wherein the coaxial channel adopts a coaxial needle, the coaxial channel is used for printing a pipeline of the target structure, and the support channel is used for printing a support structure supporting the target structure.

[0129] The tubular structure printing method provided in the embodiment can obtain a three-dimensional model to be printed, then segment the three-dimensional model to obtain each structure to be printed, and finally print the target structure according to a preset coaxial channel, a preset support channel, and each structure to be printed, wherein the coaxial channel adopts a coaxial needle, the coaxial channel is used for printing a pipeline of the target structure, and the support channel is used for printing a 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, so that the target structure is quickly obtained, the printing efficiency is improved, and the pipelines of the target structure can be connected in parallel through the coaxial needle.

[0130] It should be noted that the functions or steps of the computer readable storage medium or the computer device can be referred to the related descriptions of the server side and the client side in the foregoing method embodiments. To avoid repetition, they will not be described 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. The computer program can be stored in a non-volatile computer readable storage medium, and when executed, can include the processes of the above-mentioned embodiment methods. Any reference to memory, storage, database or other medium used in the embodiments provided by the present 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 but not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), 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), etc.

[0132] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above-mentioned division of functional units and modules is exemplified, and in actual application, the above-mentioned functions can be completed by different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the above-described functions.

[0133] The above-mentioned embodiments are only used to illustrate the technical solutions of the present application, but not limit it. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features. Such modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A method of printing a tubular structure, characterized by, The tubular structure printing method comprises: acquiring a three-dimensional model to be printed; segmenting according to the three-dimensional model to obtain each structure to be printed; printing 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 for printing a pipeline of the target structure, and the support channel is used for printing a support structure supporting the target structure; the step of segmenting according to the three-dimensional model to obtain each structure to be printed comprises: segmenting the three-dimensional model according to the size of the three-dimensional model to obtain each layered structure; cutting the layered structure according to the size of the layered structure to obtain each structure to be printed; the step of printing according to the preset coaxial channel, the preset support channel, and each structure to be printed to obtain a target structure comprises: sorting the layered structure and each structure to be printed corresponding to the layered structure to obtain a sorting result; determining a layered structure in front of the sorting in each layered structure as a first layered structure according to the sorting result; printing each structure to be printed corresponding to the first layered structure according to the preset coaxial channel and the preset support channel to obtain a first structure; determining the target structure according to the first structure and the sorting result; the step of printing each structure to be printed corresponding to the first layered structure according to the preset coaxial channel and the preset support channel to obtain a first structure comprises: taking the structure to be printed corresponding to the first layered structure as a first printing structure; for each first printing structure, determining a normal of an outer surface of the first printing structure, determining an outer surface with a normal along a negative direction of a Z axis as a first outer surface in each normal, wherein the Z axis refers to a Z axis of a space coordinate system with a center position of the first printing structure as a coordinate origin; determining an outer surface with a normal perpendicular to the Z axis as a second outer surface and determining an outer surface with a normal along a positive direction of the Z axis as a third outer surface in each normal; printing the first printing structure according to the first outer surface, the second outer surface, the third outer surface, the coaxial channel, and the support channel to obtain a first structure.

2. The method of printing tubular structures of claim 1, wherein, the step of printing the first printing structure according to the first outer surface, the second outer surface, the third outer surface, the coaxial channel, and the support channel to obtain a first structure comprises: constructing a pipeline corresponding to the first outer surface through the coaxial channel to obtain a first target structure; constructing a support structure on the first target structure through the support channel to obtain a second target structure; obtaining a first structure according to the second outer surface, the third outer surface, the coaxial channel, and the second target structure.

3. The method of printing tubular structures of claim 2, wherein, the step of obtaining a first structure according to the second outer surface, the third outer surface, the coaxial channel, and the second target structure comprises: A third target structure is obtained by constructing a corresponding pipe of the second outer surface on the second target structure through the coaxial channel; A first structure is obtained by constructing a corresponding pipe of the third outer surface on the third target structure through the coaxial channel.

4. The method of printing tubular structures of claim 3, wherein, The step of determining the target structure according to the first structure and the sorting result comprises: determining whether there is a layer structure which has not been printed in each layer structure according to the sorting result and the first structure; if not, taking the first structure as the target structure; if yes, selecting a layer structure with the largest sorting value from the layer structures which have not been printed as a second layer structure; printing each of the to-be-printed structures corresponding to the second layer structure according to the first structure, the preset coaxial channel and the preset support channel, to obtain a second structure; taking the second structure as the first structure and returning to the step of determining whether there is a layer structure which has not been printed in each layer structure according to the sorting result and the first structure.

5. A tubular structure printing apparatus that implements the tubular structure printing method according to claim 1, characterized by, The tubular structure printing device comprises: an acquisition module configured to acquire a three-dimensional model to be printed; a segmentation module configured to segment the three-dimensional model to obtain each to-be-printed structure; a printing module configured to print according to a preset coaxial channel, a preset support channel and each to-be-printed structure to obtain a target structure, wherein the coaxial channel adopts a coaxial needle head, the coaxial channel is used to print a pipe of the target structure, and the support channel is used to print a support structure supporting the target structure.

6. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The processor executes the computer program to implement the steps of the tubular structure printing method according to any one of claims 1 to 4.

7. A computer-readable storage medium storing a computer program, wherein the computer program comprises the following steps of: receiving a request for a resource from a client; determining whether the client is authorized to access the resource; and if the client is authorized to access the resource, providing the resource to the client. The computer program is executed by the processor to implement the steps of the tubular structure printing method according to any one of claims 1 to 4.

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