Dynamic shaping method, system, medium, and apparatus for shaping filaments

Abstract

The application provides a dynamic shaping method, system, medium and equipment for a shaping wire, and relates to the technical fields of image processing and medical devices. The dynamic shaping method for the shaping wire comprises the following steps: a first control signal is sent to a shaping device to control the shaping device to start a shaping operation, and a shaping wire with an unwound wire is formed; a first key point corresponding to the shaping wire is acquired; whether the posture of the shaping wire with the unwound wire needs to be corrected is determined in real time based on a first position where the first key point is currently located; if it is determined that the posture of the shaping wire does not need to be corrected at present, the above steps are repeatedly executed until the shaping of the shaping wire is completed; a plurality of key points in the three-dimensional image are recognized, the length and the bending angle of the shaping wire are corrected in real time according to the plurality of key points in turn and repeatedly, a closed loop system is formed, and finally, the shaping wire with an accurate posture is obtained, so that the accuracy of shaping is greatly improved.

Description

TECHNICAL FIELD

[0001] The present application generally relates to the technical fields of image processing and medical devices. More particularly, the present application relates to a dynamic shaping method, system, medium and apparatus for a shaping wire. BACKGROUND

[0002] Intracranial aneurysm refers to an abnormal bulge occurring on the wall of an intracranial artery, with a prevalence rate of about 2%. The most common treatment for aneurysm is currently coil embolization or stent-assisted coil embolization. In this surgical procedure, the successful positioning and stability of the tip of the microcatheter play a key role in the successful implementation of the surgery.

[0003] To ensure positioning and stability, the tip of the microcatheter generally needs to be shaped. The traditional shaping scheme is to first insert a shaping wire into the tip of the microcatheter, then shape the shaping wire in three dimensions according to the direction of the blood vessel and the angle between the blood vessel and the growth direction of the aneurysm, then steam fumigate it, and then cool it with physiological saline to set the shape. Currently, a dedicated shaping device is mainly used to shape the shaping wire in three dimensions, and then the shaped shaping wire is fitted into the microcatheter for fumigation to obtain a shaped microcatheter. During the operation of the shaping device, due to noise and signal interference, etc., the posture of the shaping wire obtained by the shaping device often has a certain error from the preset standard posture. Since no corresponding correction scheme is currently taken for the posture of the shaped shaping wire, the error between the posture of the shaped shaping wire and the preset standard posture will gradually increase with accumulation, ultimately affecting the accuracy of shaping the shaping wire and increasing the risk of surgical failure.

[0004] Therefore, there is an urgent need to provide a shaping scheme to accurately shape the shaping wire. SUMMARY

[0005] To at least solve one or more technical problems as mentioned above, the present application proposes a dynamic shaping method, system, medium and apparatus for a shaping wire in multiple aspects.

[0006] In a first aspect, the present application provides a dynamic shaping method for a shaping wire, comprising:

[0007] sending a first control signal to a shaping device to control the shaping device to start a shaping operation to form a shaping wire that has been drawn out and not bent, wherein the shaping operation comprises a wire drawing operation and a bending operation; obtaining a first key point corresponding to the shaping wire, wherein the first key point comprises a first bending point corresponding to the shaping wire; determining in real time whether a posture of the shaping wire that has been drawn out needs to be corrected based on a first position where the first key point is currently located, wherein the shaping wire that has been drawn out comprises one of the shaping wire that has been drawn out and not bent or the shaping wire that has been bent, and the posture comprises a length and a bending angle; and repeating the above steps until the shaping operation is completed if it is determined that the posture of the shaping wire does not need to be corrected at present.

[0008] In some examples, determining in real time whether the posture of the shaping wire needs to be corrected at present based on the first position where the first key point is currently located comprises:

[0009] determining the length of the shaping wire at present according to the first position where the first key point is currently located;

[0010] determining whether the length of the shaping wire needs to be corrected at present based on the length of the shaping wire at present.

[0011] In some examples, the method further comprises:

[0012] sending a second control signal to the shaping device to control the shaping device to perform the bending operation to form the shaping wire that has been bent if it is determined that the length of the shaping wire does not need to be corrected at present.

[0013] In some examples, determining in real time whether the posture of the shaping wire needs to be corrected at present based on the first position where the first key point is currently located further comprises:

[0014] obtaining a second key point corresponding to the shaping wire that has been bent, wherein the second key point comprises a second bending point corresponding to the shaping wire that has been bent;

[0015] determining the bending angle of the shaping wire at present based on a second position where the second key point is currently located;

[0016] determining whether the bending angle of the shaping wire needs to be corrected at present based on the bending angle of the shaping wire at present.

[0017] In some examples, determining whether the length of the shaping wire needs to be corrected at present based on the length of the shaping wire at present comprises:

[0018] calculating a first error ratio between the length of the shaping wire at present and a preset length;

[0019] determining whether the first error ratio is greater than a preset first threshold value;

[0020] If the first error ratio is not greater than the preset first threshold value, it is determined that the length of the shaping wire does not need to be corrected at present, and the shaping device is controlled to stop the current wire feeding operation and start the bending operation. Otherwise, it is determined that the length of the shaping wire needs to be corrected at present, and the shaping device is controlled to continue to perform the wire feeding operation until the first error ratio is not greater than the preset first threshold value.

[0021] In some examples, based on the current bending angle of the shaping wire, determining whether the bending angle of the shaping wire needs to be corrected at present includes:

[0022] calculating a second error ratio between the current bending angle of the shaping wire and a preset bending angle;

[0023] determining whether the second error ratio is greater than a preset second threshold value;

[0024] If the second error ratio is not greater than the preset second threshold value, it is determined that the bending angle of the shaping wire does not need to be corrected at present, and the shaping device is controlled to stop the current bending operation and start the wire feeding operation. Otherwise, it is determined that the bending angle of the shaping wire needs to be corrected at present, and the shaping device is controlled to continue to perform the bending operation until the second error ratio is not greater than the preset second threshold value.

[0025] In some examples, obtaining the first key point corresponding to the shaping wire that has been fed out includes:

[0026] controlling the camera to collect the shaping wire that has been fed out in real time to obtain a corresponding three-dimensional image;

[0027] based on the three-dimensional image, determining the fixed point corresponding to the shaping wire;

[0028] performing a binarization operation, a maximum connected domain processing and a skeletonization operation on the three-dimensional image in sequence to identify the first bending point corresponding to the shaping wire that has been fed out in the three-dimensional image.

[0029] In a second aspect, the application provides a dynamic shaping system for shaping wire, comprising:

[0030] a sending module configured to send a first control signal to a shaping device to control the shaping device to start a shaping operation to form a shaping wire that has been fed out but not bent, wherein the shaping operation includes a wire feeding operation and a bending operation;

[0031] an obtaining module configured to obtain a first key point corresponding to the shaping wire, wherein the first key point includes a first bending point corresponding to the shaping wire;

[0032] a determining module configured to determine in real time whether the posture of the shaped wire needs to be corrected based on a first position where the first key point is currently located, wherein the shaped wire that has been discharged is one of a shaped wire that has not been bent or a shaped wire that has been bent, and the posture includes length and bending angle;

[0033] an executing module configured to repeat the above steps until the shaping of the shaped wire is completed if it is determined that the posture of the shaped wire does not need to be corrected at present.

[0034] In a third aspect, the present application provides a computer readable storage medium containing program instructions, when the program instructions are executed by a processor, the method described in the above first aspect is realized.

[0035] In a fourth aspect, the present application provides an electronic device, comprising:

[0036] a processor; and

[0037] a memory storing computer instructions, when the computer instructions are executed by the processor, the electronic device executes the method described in the above first aspect.

[0038] Through the dynamic shaping method, system, medium and device for shaping a wire provided by the above, the embodiments of the present application collect the shaping process of the shaped wire in real time through a camera, obtain corresponding three-dimensional images, identify a plurality of key points in the three-dimensional images, and correct the length and bending angle of the shaped wire in real time according to the plurality of key points in turn repeatedly, form a closed loop system, and finally obtain a shaped wire with accurate posture, which greatly improves the accuracy of shaping. BRIEF DESCRIPTION OF DRAWINGS

[0039] The above and other objects, features and advantages of the exemplary embodiments of the present application will be readily understood through reading the following detailed description in conjunction with the accompanying drawings, in which several embodiments of the present application are illustrated in example, not by way of limitation. In the drawings, the same or corresponding elements are denoted by the same or corresponding reference numerals, and:

[0040] Figure 1 An example scene schematic diagram of the embodiments of the present application is shown, which shows some embodiments of the present application;

[0041] Figure 2 An example flowchart of the dynamic shaping method for shaping a wire is shown, which shows some embodiments of the present application;

[0042] Figure 3 An image schematic diagram obtained after skeletonization operation on the shaped wire is shown, which shows some embodiments of the present application;

[0043] Figure 4 An exemplary flowchart of a method of determining whether to correct the pose of a shaped filament that has exited a filament is shown for some embodiments of the present application;

[0044] Figure 5 An exemplary flowchart of a method of determining whether to correct the pose of a shaped filament that has exited a filament is shown for some embodiments of the present application;

[0045] Figure 6 An exemplary block diagram of a dynamic shaping system for a filament is shown for some embodiments of the present application;

[0046] Figure 7 An exemplary block diagram of an electronic device is shown for some embodiments of the present application. DETAILED DESCRIPTION

[0047] 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 some of the embodiments of the present application, but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0048] It should be understood that the terms “comprising” and “including” used in the specification and claims of the present application indicate the presence of the described features, integers, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0049] It should also be understood that the terms used in the specification of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. As used in the specification and claims of the present application, the singular forms “a”, “an” and “the” are intended to include the plural forms, unless the context clearly indicates otherwise. It should be further understood that the term “and / or” used in the specification and claims of the present application means any combination of one or more of the associated listed items and all possible combinations thereof, and includes these combinations.

[0050] As used in the specification and claims of this document, the term “if’ can be interpreted as meaning “when” or “once” or “in response to a determination” or “in response to detecting” depending on the context. Similarly, the phrase “if it is determined” or “if [a described condition or event] is detected” can be interpreted as meaning “once it is determined” or “in response to the determination” or “once [a described condition or event] is detected” or “in response to detecting [a described condition or event]” depending on the context.

[0051] The specific embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0052] Example 1

[0053] Figure 1 An exemplary scenario in which embodiments of this application can be applied is shown. For example... Figure 1 As shown, the shaping equipment includes a shaping nozzle 1, a shaping finger 2, a camera (not shown in the figure), and a controller (not shown in the figure). The shaping nozzle 1 can dispense and rotate the shaping filament 3. The shaping finger 2 bends the shaping filament through lateral movement. Points O and Pn+1 are fixed points. Point O is the filament outlet of the shaping nozzle 1, and point Pn+1 is a preset point aligned with point O. Points Pn, O, and Pn+1 are all on the shaping filament 3 and aligned with a straight line. Point Pn+1 is located inside the shaping nozzle 1. Points Pn, Pn-1, etc., are bending points on the shaping filament 3. Endpoint Q is the end point of the shaping finger 2, located at its tip. During the shaping process of the bending angle of the shaping filament 3, endpoint Q contacts the bending points on the shaping filament 3 (i.e., the endpoints of each segment of the shaping filament). During each shaping process, a shaping filament of a preset length is obtained through the shaping nozzle 1. The shaping filament 3 is rotated through the shaping nozzle 1, and a three-dimensional image of the shaping filament 3 can be captured by a camera, which can obtain a clearer and more intuitive posture of the shaping filament 3. The shaping finger 2 is controlled by the controller to perform a bending operation on the shaping filament 3 (the relative position between the shaping finger 2 and the shaping nozzle 1 is fixed) to form the shaping filament 3 with a set bending angle.

[0054] Example 2

[0055] Figure 2 An exemplary flowchart of a dynamic shaping method for shaping filaments provided in an embodiment of this application is shown.

[0056] like Figure 2 As shown in the embodiment of this application, a dynamic shaping method for shaping filaments is provided. This method is executed by a controller and includes the following steps:

[0057] First, in step S101, a first control signal is sent to the shaping equipment to control the shaping equipment to start the shaping operation and form a shaped filament 3 that has been extruded but not bent. The shaping operation includes an extrusion operation and a bending operation.

[0058] Specifically, the shaping equipment first performs the wire feeding operation. Once it is confirmed that the wire feeding operation is performed correctly, the shaping equipment is then controlled to perform the bending operation.

[0059] Next, in step S102, the first key point corresponding to the shaping filament 3 is obtained, wherein the first key point includes the first bending point corresponding to the shaping filament 3.

[0060] In some examples, the process of obtaining this first key point specifically includes:

[0061] The camera is controlled to acquire the shaping filament 3 that has been produced in real time, and the corresponding three-dimensional image is obtained. The camera can be located directly below the shaping nozzle 1, and the relative position between the two is fixed. The entire shaping process can be clearly acquired, and the edge recognition of the shaping filament 3 and its corresponding posture can be achieved.

[0062] Based on the three-dimensional image, the corresponding fixing point of the shaping wire is determined.

[0063] Specifically, the exit marker point O and point Pn+1 of the shaping filament are located through image registration. Registration employs an affine transformation based on mutual information or mean square error. The image template corresponding to the shaping nozzle 1 is known, and this template marks the locations of points O and Pn+1. After registering the actual image obtained after taking the photograph with the template image, the positions of the fixed points (points O and Pn+1) corresponding to the shaping filament in the actual image can be determined based on their correspondence. Thus, these two key marker points are obtained. Generally, the image registration step only needs to be performed once during the entire shaping process.

[0064] Binarization, maximum connected component processing, and skeletonization are performed sequentially on the three-dimensional image to identify the first bending point corresponding to the shaped filament that has emerged but not yet bent in the three-dimensional image.

[0065] Specifically, the binarization operation aims to obtain a binary image (black and white image) to determine the approximate location of the target object; the maximum connected component processing aims to identify the maximum connected component in the image, which can accurately locate and identify the target object in the image; the skeletonization operation, also called binary image thinning, aims to thin a connected region to the width of one pixel for feature extraction to represent the internal topological relationship of the target object, and obtain the first bending point corresponding to the unbent shaping filament 3. The image of the shaping filament obtained after the skeletonization operation is shown below. Figure 3 As shown. By Figure 3 It can be seen that a complete shaping filament 3 is composed of multiple shaping filament segments 3.

[0066] Next, in step S103, based on the current position of the first key point, it is determined in real time whether the posture of the filament that has been produced needs to be corrected. The filament that has been produced is either a filament that has been produced but not bent or a filament that has been bent. The posture includes the length and the bending angle.

[0067] In some examples, such as Figure 4 As shown, step S103 specifically includes:

[0068] S1031, Determine the current length of the shaping wire 3 based on the current position of the first key point;

[0069] S1032, based on the current length of the shaping wire 3, determine whether the length of the shaping wire needs to be corrected.

[0070] Specifically, when the coordinates of point O are (0, 0) and the coordinates of point Pn-1 are (x, y), n－1 y n－1 At this point, the length of the shaped filament that has been produced but not bent is...

[0071] In some examples, determining whether the length of the shaping wire 3 needs to be corrected based on its current length includes:

[0072] Calculate the first error ratio c between the current length of the shaping filament 3 and the preset length, where:

[0073] The formula for calculating the first error ratio is: In formula (1), d1 is the preset length of the shaping wire, and d2 is the current length (actual length) of the shaping wire 3.

[0074] Determine whether the first error ratio is greater than a preset first threshold;

[0075] If the first error ratio is not greater than the preset first threshold, then it is determined that the length of the shaping wire 3 does not need to be corrected at present.

[0076] Specifically, when the first error ratio is no greater than 5%, it is determined that the length of the shaping filament 3 does not need to be corrected at present. In this case, the shaping equipment is controlled to stop the filament feeding operation and start the bending operation. Conversely, if the first error ratio is greater than 5%, it is determined that the length of the shaping filament 3 needs to be corrected at present. In this case, the shaping equipment is controlled to continue the filament feeding operation until the first error ratio is no greater than a preset first threshold. That is, when the first error ratio is greater than 5%, the shaping equipment is controlled to continue the filament feeding operation until the first error ratio is no greater than 5%.

[0077] In some examples, such as Figure 5 As shown, if it is determined that there is no need to correct the length of the unbent shaping filaments that have already been produced, step S103 further includes:

[0078] S1041, a second control signal is sent to the shaping equipment to control the shaping equipment to perform a bending operation and form a bent shaping filament 3.

[0079] S1042, acquire a second key point corresponding to the bent shaping wire 3, wherein the second key point comprises a second bending point corresponding to the bent shaping wire 3.

[0080] Specifically, the identification method of the second key point is consistent with the identification method of the first key point.

[0081] S1043, determine the bending angle θ of the shaping wire based on the second position where the second key point is currently located.

[0082] Specifically, according to the formula:

[0083]

[0084] In formula (2), (x n , y n ) is the position coordinate of the point P, and (x n+1 , y n+1 ) is the position coordinate of the point Pn+1.

[0085] S1044, judge whether the bending angle of the shaping wire 3 needs to be corrected based on the current bending angle of the shaping wire.

[0086] In some examples, the step of judging whether the bending angle of the shaping wire needs to be corrected includes:

[0087] Calculate the second error ratio f between the current bending angle of the shaping wire 3 and the preset bending angle.

[0088] Specifically, the formula for calculating the second error ratio is:

[0089]

[0090] In formula (3), k1 is the preset bending angle of the shaping wire 3, k2 is the current bending angle (actual bending angle) of the shaping wire 3, and ‖ is the absolute value symbol.

[0091] Judge whether the second error ratio is greater than a preset second threshold value;

[0092] If the second error ratio is not greater than the preset second threshold value, it is determined that the bending angle of the shaping wire does not need to be corrected at present, and the shaping device is controlled to stop the current bending operation and start the wire drawing operation; otherwise, it is determined that the bending angle of the shaping wire needs to be corrected at present, and the shaping device is controlled to continue to perform the bending operation until the second error ratio is not greater than the preset second threshold value.

[0093] Specifically, when the second error ratio is not greater than 5%, it is determined that the bending angle of the shaping wire does not need to be corrected at present, at this time, the shaping device is controlled to stop the bending operation and start the wire-out operation. On the contrary, it is determined that the bending angle of the shaping wire needs to be corrected at present, in this case, the shaping device is controlled to continue the bending operation until the second error ratio is not greater than the preset second threshold.

[0094] Then, in step S104, if it is determined that the posture of the shaping wire does not need to be corrected at present, the above steps are repeatedly executed until the shaping of the shaping wire is completed.

[0095] Specifically, for each section of the shaping wire, first, the shaping device is controlled to start the wire-out operation, and according to the current length of the shaping wire that has been wire-out and not bent, it is judged whether the wire-out operation is continued at present, when it is determined that the wire-out operation does not need to be continued at present, the shaping device is controlled to start the bending operation, and according to the current bending angle of the shaping wire that has been wire-out and bent, it is judged whether the bending operation is continued at present, when it is determined that the bending operation does not need to be continued at present, the shaping device is controlled to start the wire-out operation again, and the above steps are repeatedly executed until the shaping of the whole shaping wire is completed.

[0096] The embodiment of the present application collects the shaping process of the shaping wire in real time through the camera, obtains the corresponding three-dimensional image, identifies a plurality of key points in the three-dimensional image, and repeatedly corrects the length and bending angle of the shaping wire in real time according to the plurality of key points, to form a closed loop system, so that the posture of the shaping wire is finally accurate, and the accuracy of shaping is greatly improved.

[0097] Embodiment 3

[0098] As shown in Figure 6 The dynamic shaping system for the shaping wire provided by the embodiment of the present application comprises:

[0099] The sending module is configured to send a first control signal to the shaping device to control the shaping device to start a shaping operation to form a shaping wire that has been wire-out and not bent, wherein the shaping operation includes a wire-out operation and a bending operation;

[0100] The obtaining module is configured to obtain a first key point corresponding to the shaping wire, wherein the first key point includes a first bending point corresponding to the shaping wire that has been wire-out and not bent;

[0101] The judging module is configured to judge in real time whether the posture of the shaping wire that has been wire-out needs to be corrected based on a first position where the first key point is currently located, wherein the shaping wire that has been wire-out is one of the shaping wire that has been wire-out and not bent or the shaping wire that has been bent, and the posture includes the length and the bending angle;

[0102] The execution module is configured to repeat the above steps until the shaping of the shaping wire is completed if it is determined that the posture of the shaping wire does not need to be corrected at present.

[0103] In another aspect, the embodiments of the present application also provide an electronic device, referring to Figure 7 , Figure 7 is a structural principle block diagram of an electronic device according to an embodiment of the present application, as shown in Figure 7 The electronic device includes a processor and a memory, the memory stores computer instructions, and the processor executes the computer instructions to perform the method provided by the present application.

[0104] Specifically, the processor 601 can include a central processor (CPU) or a graphics processor (GPU), or a specific integrated circuit (ASIC), or can be configured to implement one or more integrated circuits of the embodiments of the present application. The memory 602 can include a memory for data or instructions. For example, the memory 602 can be at least one of a hard disk drive (HDD), a read-only memory (ROM), a random access memory (RAM), a floppy disk drive, a flash memory, an optical disc, a magneto-optical disc, a magnetic tape, a universal serial bus (USB) drive, or other physical / tangible memory storage devices. In another example, the memory 602 includes removable or non-removable (or fixed) media. In another example, the memory 602 can be internal or external to the integrated gateway disaster recovery device. The memory 602 can be a non-volatile solid-state memory. In other words, the memory 602 generally includes a tangible (non-transitory) computer-readable storage medium (such as a memory device) encoded with executable instructions, where the stored executable instructions are executed by the processor 601 (such as executed by one or more processors) to implement the method in the embodiments of the present application.

[0105] In one example, Figure 7The electronic device also can include a communication interface 603 and a bus 610. The processor 601, the memory 602, and the communication interface 603 are connected by the bus 610 and complete communication with each other. The communication interface 603 is mainly used to realize communication between modules, devices, units, and / or equipment in the electronic device. The bus 610 includes hardware, software, or both, which can couple components of the online data flow billing device to each other. For example, the bus can include at least one of the following: an accelerated graphics port (AGP) or other graphics bus, an enhanced industry standard architecture (EISA) bus, a front side bus (FSB), a hyper transport (HT) interconnect, an industry standard architecture (ISA) bus, an infiniband interconnect, a low pin count (LPC) bus, a memory bus, a microchannel architecture (MCA) bus, a peripheral component interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a serial advanced technology attachment (SATA) bus, a video electronics standards association local (VLB) bus, or other suitable bus. The bus 610 can include one or more buses. Although specific buses are described or shown in the embodiments of the present application, any suitable bus or interconnection method can be considered in the embodiments of the present application.

[0106] In another aspect, the embodiments of the present application also provide a computer readable storage medium, which has computer program instructions stored thereon, and the computer program instructions are executed by a processor to implement the foregoing method. The computer readable storage medium is, for example, a classical computer readable storage medium, such as a read-only memory (ROM), a random access memory (RAM), a magnetic disk storage medium device, an optical storage medium device, a flash memory device, an electrical, optical, or other physical / tangible memory storage device.

[0107] In another aspect, the embodiments of the present application also provide a computer program product, which includes computer program instructions, and the computer program instructions are executed by a processor to implement the method provided by the embodiments of the present application. The computer program product is, for example, a software installation package, a plug-in compatible with a related software system, and the like.

[0108] The flowcharts and / or block diagrams of the method and system of the embodiments of the present application are described above by way of example, and the related various aspects are described. It should be understood that each block of the flowcharts and / or block diagrams or a combination thereof can be implemented by computer program instructions, or by dedicated hardware to perform specified functions or actions, or by a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a functional card, and the like; when implemented in software, it is a program or a code segment used to perform the required tasks. The program or the code segment can be stored in a memory, or transmitted through a data signal carried in a carrier wave in a transmission medium or a communication link. The code segment can be downloaded via a computer network, such as the Internet, an intranet, and the like.

[0109] Although a number of embodiments of the present application have been shown and described herein, it is to be understood that these embodiments are merely exemplary of the principles of the present application. Many modifications, changes and substitutions can occur to those skilled in the art without departing from the spirit and scope of the present application. It is therefore to be understood that various alternatives to the embodiments of the present application described herein can be employed in practicing the present application. The following claims are intended to cover all such alternatives and equivalents.

Claims

1. A dynamic shaping method for shaping filaments, characterized in that, include: A first control signal is sent to the shaping equipment to control the shaping equipment to start the shaping operation and form a shaped filament that has been extruded but not bent. The shaping operation includes filament extrusion and bending operations. Obtain the first key point corresponding to the shaping filament, wherein the first key point includes the first bending point corresponding to the shaping filament; Based on the current position of the first key point, it is determined in real time whether the posture of the shaped filament that has been filamentally produced needs to be corrected. The shaped filament that has been filamentally produced includes either a filament that has been filamentally produced but not bent or a filament that has been bent. The posture includes the length and the bending angle. If it is determined that the posture of the shaping filament does not need to be corrected at present, the above steps are repeated until the shaping of the shaping filament is completed; Specifically, based on the current position of the first key point, determining in real time whether the posture of the shaping wire needs to be corrected includes: The current length of the shaping filament is determined based on the current position of the first key point. Based on the current length of the shaping wire, determine whether the length of the shaping wire needs to be corrected.

2. The dynamic shaping method according to claim 1, characterized in that, The method further includes: If it is determined that the length of the shaping filament does not need to be corrected at present, a second control signal is sent to the shaping equipment to control the shaping equipment to perform a bending operation and form a bent shaping filament.

3. The dynamic shaping method according to claim 2, characterized in that, Based on the current position of the first key point, real-time determination of whether the posture of the shaping filament needs to be corrected further includes: Obtain the second key point corresponding to the bent shaping filament, wherein the second key point includes the second bending point corresponding to the bent shaping filament; Based on the current second position of the second key point, determine the current bending angle of the shaping wire; Based on the current bending angle of the shaping filament, determine whether the bending angle of the shaping filament needs to be corrected.

4. The dynamic shaping method according to claim 1, characterized in that, Determining whether the length of the shaping wire needs to be corrected based on its current length includes: Calculate the first error ratio between the current length of the shaping filament and the preset length; Determine whether the first error ratio is greater than a preset first threshold; If the first error ratio is not greater than a preset first threshold, it is determined that the length of the shaping filament does not need to be corrected at present, and the shaping equipment is controlled to stop the current filament output operation and start the bending operation; otherwise, it is determined that the length of the shaping filament needs to be corrected at present, and the shaping equipment is controlled to continue to perform the filament output operation until the first error ratio is not greater than the preset first threshold.

5. The dynamic shaping method according to claim 3, characterized in that, Determining whether the bending angle of the shaping filament needs to be corrected based on its current bending angle includes: Calculate the second error ratio between the current bending angle of the shaping filament and the preset bending angle; Determine whether the second error ratio is greater than a preset second threshold; If the second error ratio is not greater than the preset second threshold, it is determined that the bending angle of the shaping filament does not need to be corrected at present, and the shaping equipment is controlled to stop the current bending operation and start the filament output operation; otherwise, it is determined that the bending angle of the shaping filament needs to be corrected at present, and the shaping equipment is controlled to continue to perform the bending operation until the second error ratio is not greater than the preset second threshold.

6. The dynamic shaping method according to claim 1, obtaining the first key point corresponding to the filament that has been produced includes: The camera is controlled to capture the shaped filaments that have been produced in real time, and the corresponding three-dimensional images are obtained. Based on the three-dimensional image, determine the fixing point corresponding to the shaping wire; Binarization, maximum connected component processing, and skeletonization are sequentially performed on the three-dimensional image to identify the first bending point corresponding to the filament that has emerged in the three-dimensional image.

7. A dynamic shaping system for shaping filaments, characterized in that, include: The sending module is configured to send a first control signal to the shaping device to control the shaping device to start the shaping operation and form a shaped filament that has been extruded but not bent, wherein the shaping operation includes an extrusion operation and a bending operation; The acquisition module is configured to acquire a first key point corresponding to the shaping filament, wherein the first key point includes a first bending point corresponding to the shaping filament; The judgment module is configured to determine in real time whether the posture of the filament that has been filamentally produced needs to be corrected based on the current position of the first key point. The filament that has been filamentally produced is either a filament that has been filamentally produced but not bent or a filament that has been bent. The posture includes length and bending angle. The execution module is configured to repeat the above steps if it is determined that the posture of the shaping filament does not need to be corrected at present, until the shaping of the shaping filament is completed; Specifically, based on the current position of the first key point, determining in real time whether the posture of the shaping wire needs to be corrected includes: The current length of the shaping filament is determined based on the current position of the first key point. Based on the current length of the shaping wire, determine whether the length of the shaping wire needs to be corrected.

8. A computer-readable storage medium, characterized in that, It includes program instructions that, when executed by a processor, cause the method according to any one of claims 1-6 to be implemented.

9. An electronic device, characterized in that, include: processor; as well as A memory storing computer instructions that, when executed by the processor, cause the electronic device to perform the method according to any one of claims 1-6.

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