CN117507367A

CN117507367A - Support printing method and device with mark points

Info

Publication number: CN117507367A
Application number: CN202410021417.XA
Authority: CN
Inventors: 王永强; 娄耀元; 孙浩; 冯汉卿; 赵庆洪; 刘青
Original assignee: Beijing Advanced Medical Technologies Inc
Current assignee: Beijing Advanced Medical Technologies Inc
Priority date: 2024-01-08
Filing date: 2024-01-08
Publication date: 2024-02-06
Anticipated expiration: 2044-01-08
Also published as: CN117507367B

Abstract

The invention provides a bracket printing method with mark points and a device thereof, belonging to the technical field of medical appliances.

Description

Support printing method and device with mark points

Technical Field

The invention relates to the technical field of medical equipment, in particular to a bracket printing method and device with marking points.

Background

Currently, the use of stents to maintain patency of blood vessels or other lumens in the human body has become an efficient method of treating vascular stenosis and lumen occlusion. This treatment has been widely used and has been successful in treating coronary, neurovascular, or peripheral vessel occlusion. Furthermore, stents are also used to maintain patency of the body lumen of diseased prostate, esophagus, biliary tract, urinary tract, and intestines. Currently, metal stents and bioabsorbable polymer stents are two types of stents that are primarily widely used and studied.

The rapid prototyping technology is a technology for generating models and prototype parts by using 3D computer aided design model data and a 3D object digitizing system. It is an additive process that forms objects by adding or depositing material to a desired location. The rapid prototyping technology is widely applied to the development of manufacturing methods, and the rapid prototyping technology can be adopted for manufacturing the bracket. However, existing rapid prototyping systems typically have only three axes (XYZ), and are not efficient in manufacturing tubular porous structures.

In this case, a 3D printing apparatus comprising a fourth axis system may be employed for manufacturing, comprising a rotary rod connected to the base below the printing nozzle, wherein the rotary rod, the nozzle or both are movable along a longitudinal axis. The four-axis printing system also has a material delivery system that directly deposits polymeric material in the form of a hot melt filament or in the form of a viscous solution filament. The deposited filaments adhere to the surface of the rotating rod or to previously extruded filaments that have been attached to the rotating rod.

Typically, to improve visualization of the stent under visualization by X-rays or the like, a convenient visualization marker may be provided on the stent, such as a small marker spot near each end of the stent or in the middle of the stent to accommodate a radiopaque marker supported by beads or powdered biocompatible materials such as gold or platinum. The shape of the marking point is related to the used marker and the development mode, and the position of the marking point is related to the application part of the bracket and the specific use scene.

Since the stent is applied in different scenarios, there may be different shapes and positions of the marker points in the stent. If the shapes of the marking points are different between different brackets, the efficiency of setting the printing parameters for each bracket of the marking points independently is lower. In addition, the tubular structure of the stent is special, and the structures of the marking points and other positions are different, and in some cases, the printing quality of the marking point positions is not stable enough due to the fact that the printing parameters are generated by the whole stent from beginning to end.

Disclosure of Invention

The invention provides a bracket printing method and device with mark points, which are used for solving the defects of low printing efficiency and poor printing quality in the prior art and realizing the effect of improving the printing efficiency and quality.

The invention provides a stent printing method with marking points, wherein a stent is tubular, the stent is composed of struts intersecting at crossing angles of a target angle range in the axial direction of the stent, and the struts are straight or curved, and the method comprises the following steps:

determining the type of a target bracket to be printed; the type of the bracket is related to the shape and the number of the mark points on the bracket;

determining a first track of a support rod corresponding to a mark point on the target support in a two-dimensional Cartesian coordinate system plane based on the type of the target support;

determining a third track of all struts of the target bracket on a two-dimensional Cartesian coordinate system plane based on the first track and the second track; the second track is the track of the support rod of the support frame which does not contain the mark points on the plane of the two-dimensional Cartesian coordinate system; the second track comprises a plurality of single continuous tracks which are formed by adjacent struts with the same inclination direction;

based on the coordinates of the third track in a two-dimensional Cartesian coordinate system plane, the size and the shape of the cross section area of each supporting rod in the third track and the crossing angle between each supporting rod and the adjacent supporting rod, respectively generating numerical control programming languages corresponding to the first track and the second track; the numerical control programming language comprises a nozzle printing speed and a nozzle position coordinate of a target bracket printed by a target printer;

Determining a target printing direction of the target bracket, and combining the numerical control programming languages corresponding to the first track and the second track based on the target printing direction to obtain a target numerical control programming language corresponding to the target bracket;

inputting the target numerical control programming language to a target printer, so that the target printer prints the target bracket according to the target numerical control programming language.

According to the stent printing method with marking points provided by the invention, a first track of a strut corresponding to the marking points on the target stent on a two-dimensional Cartesian coordinate system plane is determined based on the type of the target stent, and the method comprises the following steps of

Determining a target profile parallel to the central axis of the target stent based on the central axis of the target stent;

based on the target profile, the target bracket is unfolded and laid on a plane to obtain an initial track formed by each support rod of the target bracket on a two-dimensional Cartesian coordinate system plane; the target profile passes through the intersection point of the struts on the target stent so that a straight line passing through the intersection point of the struts at the edge of the initial track surrounds to form a closed graph;

And determining the positions of the struts forming the marking points on the target stent based on the type of the target stent, and extracting the first tracks corresponding to the struts forming the marking points from the initial tracks.

According to the stent printing method with the marking points, the second track is determined by the following modes:

removing a first track corresponding to the struts forming the mark points from the initial track based on the positions of the struts forming the mark points on the target stent;

and extracting adjacent struts with the same inclination direction in the rest struts into a single continuous track based on the angles and the positions of the rest struts in the target stent, so as to obtain the second track.

According to the method for printing the bracket with the mark point provided by the invention, the numerical control programming language corresponding to the first track and the second track is respectively generated based on the coordinates of the third track in a two-dimensional Cartesian coordinate system plane, the size and the shape of the cross section area of each supporting rod in the third track and the crossing angle between each supporting rod and the adjacent supporting rod, and the method comprises the following steps:

based on the size and shape of the cross-sectional area of each strut in the first track and the second track and the intersection between each strut and the adjacent strut, respectively determining the number and distribution positions of control points used for generating a numerical control programming language in the first track and the second track;

And determining nozzle position coordinates based on the coordinates of the third track under a two-dimensional Cartesian coordinate system plane, the number and distribution positions of control points of the first track and the second track for generating a numerical control programming language, and generating the numerical control programming language corresponding to the first track and the second track.

According to the method for printing the bracket with the mark point provided by the invention, the numerical control programming language corresponding to the first track and the second track is respectively generated based on the coordinates of the third track in the two-dimensional Cartesian coordinate system plane, the size and the shape of the cross section area of each supporting rod in the third track and the crossing angle between each supporting rod and the adjacent supporting rod, and the method further comprises the following steps:

determining the printing speed of the nozzle corresponding to the third track based on the size of the cross sectional area of each supporting rod corresponding to the third track;

and respectively determining the nozzle printing speeds of the first track and the second track at different positions based on the coordinates of the third track in the plane of the two-dimensional Cartesian coordinate system and the nozzle printing speeds corresponding to the third track, and respectively generating numerical control programming languages corresponding to the first track and the second track.

According to the stent printing method with the mark points, the first track corresponding to the strut forming the mark points is extracted from the initial track, and the method comprises the following steps:

determining a starting position and an extraction direction for extracting the first track based on the target printing direction;

and extracting a first track of the support rod corresponding to the mark point on the target support in a two-dimensional Cartesian coordinate system plane according to the initial position and the extraction direction.

The invention also provides a bracket printing device with marking points, which comprises:

a determining module for determining the type of the target bracket to be printed; the type of the bracket is related to the shape and the number of the mark points on the bracket;

the first processing module is used for determining a first track of a support rod corresponding to a mark point on the target support in a two-dimensional Cartesian coordinate system plane based on the type of the target support;

the second processing module is used for determining a third track of all struts of the target bracket on a two-dimensional Cartesian coordinate system plane based on the first track and the second track; the second track is the track of the support rod of the support frame which does not contain the mark points on the plane of the two-dimensional Cartesian coordinate system; the second track comprises a plurality of single continuous tracks which are formed by adjacent struts with the same inclination direction;

The third processing module is used for respectively generating a numerical control programming language corresponding to the first track and the second track based on the coordinates of the third track in a two-dimensional Cartesian coordinate system plane, the size and the shape of the cross section area of each supporting rod in the third track and the crossing angle between each supporting rod and the adjacent supporting rod; the numerical control programming language comprises a nozzle printing speed and a nozzle position coordinate of a target bracket printed by a target printer;

the fourth processing module is used for determining a target printing direction of the target bracket, and combining the numerical control programming languages corresponding to the first track and the second track based on the target printing direction to obtain a target numerical control programming language corresponding to the target bracket;

and the printing module is used for inputting the target numerical control programming language to a target printer so that the target printer prints the target bracket according to the target numerical control programming language.

The invention also provides a bracket with the mark points, which is printed by adopting the bracket printing method with the mark points.

The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the stent printing method with marking points as described in any one of the above when executing the program.

The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a stent printing method with marking points as described in any of the above.

The invention also provides a computer program product comprising a computer program which when executed by a processor implements a stent printing method with marking points as described in any one of the above.

According to the bracket printing method and device with the mark points, the first track and the second track are respectively extracted according to the type of the target bracket, numerical control programming languages applicable to two different tracks can be respectively generated according to the characteristics of the support rods of the target bracket in the first track and the second track, namely the size and the shape of the cross section area of each support rod and the crossing angle between each support rod and the adjacent support rod, the second track can be multiplexed, the printing efficiency is improved, the second track is formed by a plurality of single continuous tracks which are formed by the support rods with the same inclination direction and adjacent support rods, the printing track is smooth, the third track is obtained by combining the generated first track to generate the target numerical control programming language for printing, the influence of multi-axis coupling during printing can be reduced, the movement of a printing nozzle is more stable and controllable, and the printing quality is improved.

Drawings

In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic structural view of a target stent with 8-shaped marker points provided by the invention;

FIG. 2 is a schematic structural view of a plurality of target stents with marker points of other shapes provided by the present invention;

FIG. 3 is a schematic flow chart of a method for printing a stent with marking points according to the present invention;

FIG. 4 is a schematic view of the structure of a target stent with a plurality of marking points of other shapes after being deployed;

FIG. 5 is one of the schematic track diagrams of the target stent with "8" shaped marker points provided by the present invention;

FIG. 6 is a second schematic view of the trajectory of the target stent with "8" shaped marker points provided by the present invention;

FIG. 7 is a third schematic view of the trajectory of a target stent with "8" shaped marker points provided by the present invention;

FIG. 8 is a schematic diagram of a trajectory of a target stent with "8" shaped marker points provided by the present invention;

FIG. 9 is a schematic diagram of a carriage printing apparatus with marking points according to the present invention;

fig. 10 is a schematic structural diagram of an electronic device provided by the present invention.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Before the printing method and the device for the stent with the mark points, which are provided by the embodiment of the invention, the stent with the mark points is described.

As shown in fig. 1, the stent is tubular and is composed of struts intersecting at intersecting angles of a target angular range in the axial direction of the stent. The struts are straight or curved.

The crossing angle in the axial direction of the bracket is an angle determined by two crossed straight lines, the size of the crossing angle can be designed according to actual needs, and different support rod combinations form a net wall surface structure of the bracket.

It will be appreciated that the stent of the present invention may be configured in any size to achieve the particular purpose at hand, such as a size suitable for use in the coronary arteries, periphery, abdominal aorta, urethra, oesophagus, bile duct, gastrointestinal tract, etc.

In some embodiments, the range of values of the larger crossing angle between struts in the stent may be set according to actual requirements, and the curvature of the curved struts may be determined by a distance from its straight form, and the range of values of the distance may also be set according to actual requirements.

The struts of the stent may have different cross-sectional shapes, and the size of the cross-section of the struts may be sized to provide the size of the cross-sectional area as desired. In some embodiments, the cross-sectional area of the strut cross-section of the stent ranges in size from a size of tens of micrometers to a size of a millimeter cross-sectional area. The cross-section of the struts may be circular, triangular, square, rectangular, star-shaped, irregularly shaped, etc.

The material of the scaffold may be selected from non-biodegradable materials, or a combination of both.

Non-biodegradable materials may include metals such as stainless steel, metal alloys of nickel and titanium (e.g., nitinol materials), and synthetic polymers such as polyethylene terephthalate, polyamides, polyurethanes, and the like, as well as composites thereof.

Biodegradable materials may include magnesium alloys, polylactic acid (PLA), polyglycolic acid (PGA), polyanhydrides, polycaprolactone (PCL), poly (β -hydroxybutyrate), polydioxanone, polyurethane carbonate (DTH), polypropylene fumarate, and the like, and copolymers thereof, and mixtures thereof.

In some embodiments, the stent of the present invention may also be used with fabrics. The fabric may be attached to the outer or inner surface or both surfaces of the stent by any means known in the art, such as heating, sewing, ultrasonic welding, adhesives, and the like.

The fabric for attachment to the stent may be a woven fabric or a nonwoven fabric or both, or the fabric for attachment to the stent may be a bioabsorbable fabric or a non-bioabsorbable fabric or both.

The fabric may be prefabricated or manufactured in situ on the outer surface of the stent. In situ fabrication methods include, but are not limited to, electrospinning fabrication methods in which the rotating shaft on which the scaffold is also acting as a fiber collector.

To improve visualization of the X-ray sub-stent, small radiopaque markers may be placed on the stent. Small marker points are prepared on the stent near each end or in the middle of the stent to accommodate radiopaque markers typically made of biocompatible metallic material such as gold or platinum in the form of beads or powder.

A range of gold or platinum beads, columns or powders may be pressed into or bonded by an adhesive into the marking aperture. The adhesive may be a commercially available medical grade adhesive such as silicone and cyanoacrylate. The binder may also be made from polymer solutions made from polymers such as polyvinyl alcohol, polyethylene glycol, polyurethane, polystyrene, polyvinylpyrrolidone, poly L-lactide, poly D/L-lactide, polylysine, and the like dissolved in a solvent.

The invention does not limit the shape and the number of the marked points, and the marked points can be 8-shaped, triangular, elliptic, diamond-shaped, lollipop-shaped and the like.

In fig. 1, the marked points are "8" shaped. As shown in fig. 2, fig. 2 shows a schematic partial structure of four kinds of stents, in which a is a lollipop-shaped mark point, B is an oval mark point, C is a triangle mark point, and D is a diamond mark point.

The stent printing method and apparatus with marking points of the present invention are described below with reference to fig. 1 to 9.

As shown in fig. 3, the method for printing a bracket with a mark point according to the embodiment of the invention mainly includes step 110, step 120, step 130, step 140, step 150, and step 160.

Step 110, determining the type of target rack to be printed.

The type of stent is related to the shape and number of marker points on the stent.

It will be appreciated that the shape and number of marking points on the stent will also be different when the stent is applied in different scenarios, and thus different types of stents may be distinguished according to the shape and number of marking points on the stent.

Step 120, determining a first track of the strut corresponding to the mark point on the target stent on the plane of the two-dimensional Cartesian coordinate system based on the type of the target stent.

The target bracket is the bracket to be printed, the type of the target bracket needs to be determined before printing, and then the printing mode of the target bracket is determined according to the shape and the number of the mark points on the type of bracket.

The first track of the support rod corresponding to the mark point on the target support in the plane of the two-dimensional Cartesian coordinate system can be determined according to the type of the target support.

Specifically, the target stent can be firstly unfolded according to a certain mode, and first tracks of the struts corresponding to the marking points in the two-dimensional Cartesian coordinate system plane are respectively extracted.

As shown in fig. 4, fig. 4 shows a schematic view of a partial structure of four stents of the same size in a two-dimensional cartesian coordinate system plane after deployment, and the shapes of only the marking points of the four stents are different. The locus of the struts corresponding to the multiple mark points in fig. 4, namely the locus in a black circle, can be extracted, wherein a is a lollipop-shaped mark point, B is an oval mark point, C is a triangle mark point, and D is a diamond mark point.

In some embodiments, determining a first trajectory of a strut corresponding to a marker point on a target stent in a two-dimensional Cartesian coordinate system plane based on a type of the target stent includes the following.

A target profile parallel to the central axis of the target stent may be determined based on the central axis of the target stent. Based on the target profile, the target bracket is unfolded and tiled on a plane, and an initial track formed by each support rod of the target bracket on a two-dimensional Cartesian coordinate system plane is obtained.

As shown in fig. 5, fig. 5 shows an initial trajectory of the stent marked with the "8" shape in fig. 1 after being unfolded on the two-dimensional cartesian coordinate system plane.

The central axis of a target stent generally refers to the principal axis of symmetry or axis of the stent, which is used to describe the overall morphology and structure of the stent. The determination of the central axis is generally dependent on the shape and geometry of the stent and can be obtained from design drawings or actual measurements.

It is first necessary to determine the central axis of the target stent and determine the target profile parallel thereto based on the central axis. Then, the target bracket is unfolded and tiled on a plane, and projection of each part of the bracket on the plane is obtained. Each strut of the target stent may then be cut or deployed along its respective target profile line so that it can lie flat on a plane.

On this basis, the struts can be measured and analyzed to determine their coordinate position and orientation on a plane. These coordinate points can be considered as the initial trajectories of the struts in the plane of the two-dimensional cartesian coordinate system. By further processing these trajectories, more accurate trajectory information can be obtained for stent design and fabrication.

The target profile passes through the intersection of struts on the target stent such that a straight line passing through the intersection of struts at the edge of the initial trajectory surrounds a closed pattern. The straight line passing through the intersection point of the struts at the edge of the target profile is surrounded into a closed figure, so that each part of the stent can be more clearly displayed on a plane, and the geometric form of the stent can be better understood. As shown in fig. 5, the straight line passing through the strut intersection point of the target profile edge in fig. 5 may be enclosed as a rectangle. In this way, the structure and layout of the stent can be effectively analyzed and designed. In addition, presenting the stent as a closed pattern shape also facilitates subsequent manufacturing processes and print path planning, may simplify stent deployment and positioning processes, and provides a reference for subsequent processing operations.

On the basis, the positions of the struts forming the marking points on the target stent are determined based on the type of the target stent, and the tracks corresponding to the struts forming the marking points are extracted from the initial tracks.

Once the location of the marker point is determined, the trajectory of the strut corresponding to the marker point may be extracted from the initial trajectory. This may be accomplished by identifying and extracting data points or curve segments of struts corresponding to marker points on the initial trajectory.

It will be appreciated that by determining the location of the marker points and extracting the trajectories of the corresponding struts, the shape structure and function of the stent can be better understood and analyzed.

Based on the angles and positions of the struts in the tracks corresponding to the struts constituting the marking points, the adjacent struts with the same inclination direction in the rest struts are extracted into a single continuous track, and a second track is obtained.

It should be noted that the shape of the strut may have various shapes, and the shape of the strut may be set according to actual requirements, so that the oblique direction of the strut may be represented by the oblique direction of a straight line obtained by connecting the front end and the rear end of the strut.

As shown in fig. 6, fig. 6 shows a schematic view of three second trajectories extracted in the direction of the struts inclined from the lower left direction to the upper right direction. Fig. 6 shows an included angle a and an included angle B, where the included angle a and the included angle B are included angles between straight lines obtained by connecting two adjacent struts in a track end to end, and the inclined directions of two adjacent struts at the included angle a and the included angle B are inclined from the lower left direction to the upper right direction, and the inclined angles of the struts may be different or the same. Of course, in some embodiments, the same tilt direction may be the tilt direction of two adjacent struts each tilted from the lower right direction to the upper left direction.

Specifically, the struts of the rest struts which have the same inclination direction and are adjacent to each other are extracted as a single continuous track, so as to obtain a second track, and the operation can be performed according to the following process.

First, a starting point of a strut corresponding to a mark point is found from an initial track. And determining the position and the size of the mark point according to the design or measurement data. And starting from the starting point, extracting the corresponding supporting rod according to the position and the size of the marking point. This can be accomplished by identifying and recording struts adjacent to the marker points and in the appropriate locations.

On the basis, the strut corresponding to the next marking point is found out continuously along the initial track, and is extracted. Repeating the above operation until all the struts corresponding to the mark points are extracted. Through the above operations, the struts constituting the marker points can be extracted from the initial trajectories, resulting in their individual trajectories. The position, shape and function of these struts can be better analyzed and understood, providing references and guidance for subsequent processing, assembly and use.

On the basis, the rest of the struts are extracted. As shown in fig. 7, a schematic view of three second trajectories extracted in the strut direction inclined from the lower left to the upper right is shown in fig. 7. The second track comprises a plurality of single continuous tracks formed by adjacent struts with the same inclination direction. Unlike the tracks shown in fig. 6, the three bolded lines in fig. 7 are three continuous tracks extracted from the remaining struts, and the inclination angles of the struts in each continuous track are the same and are adjacent to each other, so that the tracks can be regarded as second tracks.

It should be noted that, the second track is extracted in the manner shown in fig. 6 and 7, so that the change angle between the struts of the second track may be smaller. Compared with the grid-shaped track formed by the struts in fig. 5, the connection transition between the struts in the second track is smoother, in the printing process, the printing path of the complex-shaped grid structure is divided into a plurality of small sections, the shape and the angle change inside each small section are relatively smaller, the situation of simultaneous movement of multiple axes can be reduced through fine path segmentation, the influence of the multi-axis coupling effect is reduced, and the printing quality is further improved.

And 130, determining a third track of all struts of the target bracket on a two-dimensional Cartesian coordinate system plane based on the first track and the second track.

It will be appreciated that after the first track and the second track are determined, the first track and the second track may be spliced into a third track according to the coordinates of the first track and the second track in the plane of the two-dimensional cartesian coordinate system.

As shown in fig. 8, fig. 8 shows the third track after the first tracks and the second tracks extracted from fig. 5 are spliced.

It will be appreciated that the complex staggered web print tracks of fig. 5, the staggered struts, and the more complex motion paths of the print heads, may result in enhanced multi-axis coupling effects when printing with a four-axis printing system, thereby affecting print quality.

Multiaxial coupling refers to the effect that in multiaxial motion systems, the motion of one axis affects the motion of the other axis, creating mutual coupling. This effect is more pronounced in complex trajectory designs, which may lead to problems of vibration, acceleration variations during printing, etc., and thus lower print quality.

In contrast, in the present invention, as shown in fig. 8, the track is designed to be a smooth straight line, so that the influence of multi-axis coupling during printing can be reduced, and the track design can reduce the mutual influence between the axes in the multi-axis system, so that the movement of the printing nozzle is more stable and controllable, and the printing quality is improved.

The third track comprises a first track and a second track, wherein the first track is a track corresponding to the mark point, and the second track is a track corresponding to the rest of the supports after the track corresponding to the target support is removed from the first track.

The first track and the second track are generated respectively, so that the two tracks are detached because the mark points have different shapes, the first track can be generated according to the mark points with different forms when facing the target brackets with the same size and different single mark point shapes, the second track can be unchanged all the time, and the data of the second track can be multiplexed, so that the re-extraction and generation of track data are avoided, the data processing efficiency is improved, and the repeated work is reduced.

And 140, respectively generating a numerical control programming language corresponding to the first track and the second track based on the coordinates of the third track in the plane of the two-dimensional Cartesian coordinate system, the size and the shape of the cross section area of each strut in the third track and the crossing angle between each strut and the adjacent strut.

The numerical control programming language includes nozzle print speed and nozzle position coordinates of the target printer printing target rack.

The nozzle print speed is used to measure the speed of movement of the printer nozzle as it is being printed. Under the condition that the wire output quantity is fixed, the nozzle printing speed is inversely proportional to the wire diameter of the wire output, the thinner the wire diameter of the nozzle printing speed is, the smaller the size of the cross-sectional area of the supporting rod is, the slower the nozzle printing speed is, the larger the wire diameter is, and the larger the size of the cross-sectional area of the supporting rod is.

In general, in 3D printing, it is a relatively common way to use a cartesian coordinate system to represent the nozzle position. This is because the cartesian coordinate system is relatively intuitive and easy to understand, and the position and direction of the object in three-dimensional space can be conveniently determined, while the calculation can be conveniently performed. However, in the present invention, it is necessary to convert the coordinates of the third trajectory in the plane of the two-dimensional Cartesian coordinate system into columnar coordinates, and it is more convenient and efficient to use the columnar coordinate system to represent the nozzle position.

If the target support is to be printed on the 3D printing device comprising the fourth shaft system, the target support is tubular, the 3D printing device also comprises a rotating rod connected to the base below the nozzle, the cylindrical coordinates are convenient to use, and the shape and the size of the object can be directly described.

The position of the printing nozzle in the printing track can be determined according to the size of the cross-sectional area of each strut in the third track, and the center point of the cross-section of the track is generally selected as the working position point of the printing nozzle.

For the specific motion path and the nozzle position coordinate of the printing nozzle during working, different motion path planning modes such as linear interpolation, circular interpolation and the like can be adopted to determine the nozzle printing speed and the nozzle position coordinate of the target support for printing by the target printer according to the third track.

Because the shapes of the struts and the difference of the crossing angles of the struts with the adjacent struts are large in the first track and the second track, the printing speed and the position coordinates of the nozzle of the target bracket can be determined by respectively selecting proper modes for the struts with different shapes in the two tracks and different angles of the crossing angles of the adjacent struts, so that numerical control programming languages suitable for the two different tracks are respectively generated, and the printing quality in the subsequent printing process can be improved.

It will be appreciated that the nozzle printing speed and the nozzle position coordinates contained in the numerical control programming language corresponding to the first track and the second track may be determined based on the coordinates of the third track in the two-dimensional cartesian coordinate system plane, the size and shape of the cross-sectional area of each strut in the third track, and the intersection angle between each strut and the adjacent strut, respectively.

The numerical control programming languages corresponding to the first track and the second track are used for controlling the printing paths and the printing parameters so as to generate various printing control instructions, the printing control instructions can describe the moving track of the printing nozzle, define the shape and the size of a printing object, and can control the moving speed of the printing head so as to adapt to different printing details and material characteristics and further improve the printing quality.

And 150, determining a target printing direction of the target bracket, and combining the numerical control programming languages corresponding to the first track and the second track based on the target printing direction to obtain a target numerical control programming language corresponding to the target bracket.

It can be understood that, according to the target printing direction of the target support, the printing start point and the printing end point of the target support can be determined, and on the basis, according to the target printing direction, the first track and the second track are combined with the nozzle position coordinates in the numerical control programming language corresponding to the first track and the second track, so as to obtain the target numerical control programming language corresponding to the target support.

In some embodiments, extracting the first track corresponding to the strut forming the mark point from the initial track includes determining a starting position and an extraction direction of extracting the first track based on a target printing direction of printing, and extracting the first track of the strut corresponding to the mark point on the target support in a two-dimensional cartesian coordinate system plane according to the starting position and the extraction direction.

In this case, the start position of extraction of the first trajectory and the extraction direction may be determined according to the target printing direction of printing. The initial position of the first track is the position of the strut of the mark point closest to the initial position of printing in the target printing direction, so that the first track is continuously extracted along the target printing direction, the first track is conveniently combined with the second track along the printing direction, the data processing efficiency is improved, and the follow-up printing is convenient.

Step 160, inputting the target numerical control programming language to the target printer, so that the target printer prints the target bracket according to the target numerical control programming language.

It can be appreciated that after the target nc programming language is generated, the target nc programming language can be input to the target printer, so that the target printer prints the target support according to the target nc programming language, thereby obtaining a high-quality printed product.

According to the bracket printing method with the mark points, the first track and the second track are respectively extracted according to the type of the target bracket, numerical control programming languages applicable to two different tracks can be respectively generated according to the characteristics of the support rods of the target bracket in the first track and the second track, namely the size and the shape of the cross section area of each support rod and the crossing angle between each support rod and the adjacent support rod, the second track can be multiplexed, the printing efficiency is improved, the second track is formed by a plurality of single continuous tracks which are formed by the support rods with the same inclination direction and adjacent support rods, the printing track is smooth, the third track is obtained by combining the generated first track to generate the target numerical control programming language for printing, the influence of multi-axis coupling during printing can be reduced, the movement of a printing spray head is more stable and controllable, and the printing quality is improved.

In some embodiments, generating the numerical control programming language corresponding to the first track and the second track based on the coordinates of the third track in the two-dimensional cartesian coordinate system plane and the size and shape of the cross-sectional area of each strut in the third track and the intersection angle between each strut and the adjacent strut, respectively, may include the following procedure.

The number and distribution positions of the control points for generating the numerical control programming language in the first track and the second track can be determined based on the size and the shape of the cross-sectional area of each strut in the first track and the second track and the crossing angle between each strut and the adjacent strut.

The size and the shape of the cross section area of the supporting rod can influence the vibration and the shake of the printing nozzle during discharging printing between the control points, so that the printed supporting rod is deformed, the vibration and the deformation can be reduced by reasonably planning the number and the distribution position of the control points, and the influence of the multi-axis coupling effect is reduced.

The intersection angle between the struts can influence the motion stability of the printing nozzle during printing, and can also influence the interaction force and torque transmission between the struts which are just printed. If the crossing angle is too small, the multiaxial coupling effect may be increased. Therefore, minimizing interference and collisions between struts is a consideration in determining the number and distribution positions of control points.

In some embodiments, computer aided design software or computer aided engineering software may be used to perform three-dimensional modeling and simulation analysis, and motion simulation by creating strut models, setting intersection angles, shapes, and dimensions of cross-sectional areas, and determining optimal control point numbers and distribution positions based on simulation results.

In some embodiments, mathematical algorithms may also be utilized to solve for optimal control point positions. The algorithms can find the optimal solution by means of iterative search based on mathematical models and optimization objective functions.

For example, genetic algorithms may be used to calculate the optimal position and number of control points to maximize the stability of the shape and trajectory of the struts.

In this embodiment, minimizing the print head movement error may be first used as an optimization target, that is, minimizing the deviation between the shape and trajectory of the strut and the target shape and trajectory.

On this basis, an initial control point combination can be created as a population. A set of control points can be randomly generated and replicated and mutated according to the population size, yielding more control point combinations. The control point attribute and the value range can be determined according to the parameters of the third track, and the control point combination is randomly generated. For example, for each control point position, coordinate values may be randomly generated within a specified coordinate range.

Depending on the population size, the initial control point combinations may be replicated and mutated to produce more control point combinations. The initial control point combinations may be replicated to generate a plurality of identical individuals to join the population. The number of replications may be determined based on population size. And a variation mode can be adopted to randomly and slightly change the control point combination, so that the diversity of the population is increased. The mutation operation may be implemented by fine-tuning the properties of the control points, such as fine-tuning the position of the control points, etc. The degree of variation can be controlled by setting the probability of variation.

Further, an fitness function may be calculated. Fitness functions are an important part of the genetic algorithm for evaluating the quality of each control point combination. In this embodiment, the fitness function may be calculated based on the shape and trajectory errors of the struts, i.e., the deviations between the shape and trajectory of the struts and the target shape and trajectory.

On this basis, the parent may be selected. The selection of the parent is a key step in the genetic algorithm, requiring the selection of the optimal individual as the parent according to the fitness value of the control point combination.

For example, for each individual, the proportion of its fitness value to the total fitness value is calculated. Mapping all the individuals onto a disc according to the proportion, wherein the area of each sector area on the disc is equal to the proportion of the corresponding individual, generating a random number between [0, 1), and determining the individual to be selected according to the sector area of the disc where the random number is located.

Alternatively, a number of individuals (referred to as "tournament players") may be randomly selected, such as 3 individuals. The individual with the best fitness value is selected from the tournament players as the parent.

After the parent is selected, new offspring may be created by crossover and mutation operations. The crossover operation combines the genes of the two parents to produce a new control point combination, while the mutation operation performs a slight random variation on the control points, thereby increasing the diversity of the population.

On this basis, the fitness function size of the new individual can be calculated and the steps of selecting the parent and interleaving and mutation operations are repeated on this basis to produce new offspring until the stop condition is met.

It should be noted that, the genetic algorithm needs to iterate for multiple times to optimize the positions of the control points, and a stopping condition may be set, for example, when the maximum iteration number or the fitness value is reached, the iteration is stopped and the optimal control point combination is returned, so that the optimal number and positions of the control points can be obtained.

On the basis, the nozzle position coordinates can be determined based on the coordinates of the third track under the two-dimensional Cartesian coordinate system plane, the number and distribution positions of the control points of the first track and the second track for generating the numerical control programming language, and the numerical control programming language corresponding to the first track and the second track is generated.

In this embodiment, the number and distribution positions of the control points are determined based on the size, shape and crossing angle of the cross-sectional areas of the struts in the first track and the second track, so that the motion stability of the printing nozzle in the printing process of the struts and the quality of the support in the printing forming process can be optimized, the multi-axis coupling effect is reduced, the vibration transmission and the moment coupling can be reduced through reasonably designing the arrangement of the struts and the distribution of the control points, the printing precision and the support surface quality are improved, the mechanical structure and the printing nozzle motion control in the printing process are further facilitated to be optimized, the influence of the multi-axis coupling effect on the printing quality is reduced, and the consistency and the accuracy of the printing result are improved.

In some embodiments, based on the coordinates of the third track in the two-dimensional cartesian coordinate system plane and the size and shape of the cross-sectional area of each strut in the third track and the intersection angle between each strut and the adjacent strut, respectively generating a numerical control programming language corresponding to the first track and the second track, further comprising determining the nozzle printing speed corresponding to the third track based on the size of the cross-sectional area of each strut corresponding to the third track, and further determining the nozzle printing speeds of the first track and the second track at different positions based on the coordinates of the third track in the two-dimensional cartesian coordinate system plane and the nozzle printing speed corresponding to the third track, respectively generating the numerical control programming languages corresponding to the first track and the second track.

It will be appreciated that during printing, thermoplastic material is extruded from a molten state through a nozzle to form the final target stent. In this process, the speed of movement of the printing nozzle and the flow rate of the ejected molten material can affect the formation and quality of the print track.

At a constant flow rate of the printing nozzle, as the nozzle movement speed increases, the amount of molten material extruded per unit time also increases, and thus the size of the cross-sectional area of the printing track formed on the same layer may increase. Conversely, if the nozzle speed is reduced, the amount of molten material extruded per unit time is also reduced, and the size of the cross-sectional area of the print track may be reduced.

Therefore, in order to ensure the quality of the struts of the target support after printing and forming, the printing speed of the nozzles corresponding to the third track can be determined based on the size of the cross section area of each strut corresponding to the third track and combined with the flow of the printing nozzles set during printing, so that the printing quality is ensured to meet the requirements.

The stent printing device with marking points provided by the invention is described below, and the stent printing device with marking points described below and the stent printing method with marking points described above can be referred to correspondingly.

As shown in fig. 9, the bracket printing apparatus with marking points according to the embodiment of the present invention mainly includes a determining module 910, a first processing module 920, a second processing module 930, a third processing module 940, a fourth processing module 950, and a printing module 960.

The determining module 910 is configured to determine a type of target frame to be printed; the type of the bracket is related to the shape and the number of the mark points on the bracket;

the first processing module 920 is configured to determine, based on the type of the target stent, a first trajectory of the strut corresponding to the mark point on the target stent in the two-dimensional cartesian coordinate system plane;

the second processing module 930 is configured to determine a third trajectory of all struts of the target stent in the two-dimensional cartesian coordinate system plane based on the first trajectory and the second trajectory; the second track is the track of the support rod of the support frame without the mark points on the plane of the two-dimensional Cartesian coordinate system; the second track comprises a plurality of single continuous tracks which are formed by adjacent struts with the same inclination direction;

The third processing module 940 is configured to generate a numerical control programming language corresponding to the first track and the second track based on the coordinates of the third track in the two-dimensional cartesian coordinate system plane, the size and the shape of the cross-sectional area of each strut in the third track, and the intersection angle between each strut and the adjacent strut; the numerical control programming language comprises the nozzle printing speed and the nozzle position coordinates of a target bracket printed by a target printer;

the fourth processing module 950 is configured to determine a target printing direction of the target support, and combine the first track and the numerical control programming language corresponding to the second track based on the target printing direction to obtain a target numerical control programming language corresponding to the target support;

the printing module 960 is used to input the target nc programming language to the target printer, so that the target printer prints the target rack according to the target nc programming language.

According to the bracket printing device with the mark points, the first track and the second track are respectively extracted according to the type of the target bracket, numerical control programming languages applicable to two different tracks can be respectively generated according to the characteristics of the support rods of the target bracket in the first track and the second track, namely the size and the shape of the cross section area of each support rod and the crossing angle between each support rod and the adjacent support rod, the second track can be multiplexed, the printing efficiency is improved, the second track is formed by a plurality of single continuous tracks which are formed by the support rods with the same inclination direction and adjacent support rods, the printing track is smooth, the third track is obtained by combining the generated first track to generate the target numerical control programming language for printing, the influence of multi-axis coupling during printing can be reduced, the movement of a printing nozzle is more stable and controllable, and the printing quality is improved.

Fig. 10 illustrates a physical structure diagram of an electronic device, as shown in fig. 10, which may include: a processor 1010, a communication interface (Communications Interface) 1020, a memory 1030, and a communication bus 1040, wherein the processor 1010, the communication interface 1020, and the memory 1030 communicate with each other via the communication bus 1040. Processor 1010 may invoke logic instructions in memory 1030 to perform a stent printing method with marking points, the method comprising: determining the type of a target bracket to be printed; the type of the bracket is related to the shape and the number of the mark points on the bracket; determining a first track of a support rod corresponding to a mark point on the target support in a two-dimensional Cartesian coordinate system plane based on the type of the target support; determining a third track of all struts of the target bracket on a two-dimensional Cartesian coordinate system plane based on the first track and the second track; the second track is the track of the support rod of the support frame without the mark points on the plane of the two-dimensional Cartesian coordinate system; the second track comprises a plurality of single continuous tracks which are formed by adjacent struts with the same inclination direction; based on the coordinates of the third track in the two-dimensional Cartesian coordinate system plane, the size and the shape of the cross section area of each supporting rod in the third track and the crossing angle between each supporting rod and the adjacent supporting rod, respectively generating a numerical control programming language corresponding to the first track and the second track; the numerical control programming language comprises the nozzle printing speed and the nozzle position coordinates of a target bracket printed by a target printer; determining a target printing direction of a target bracket, and combining the numerical control programming languages corresponding to the first track and the second track based on the target printing direction to obtain a target numerical control programming language corresponding to the target bracket; and inputting the target numerical control programming language into the target printer so that the target printer prints the target bracket according to the target numerical control programming language.

Further, the logic instructions in the memory 1030 described above may be implemented in the form of software functional units and stored in a computer readable storage medium when sold or used as a stand alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

In another aspect, the present invention also provides a computer program product, the computer program product comprising a computer program, the computer program being storable on a non-transitory computer readable storage medium, the computer program, when executed by a processor, being capable of executing the stent printing method with marking points provided by the above methods, the method comprising: determining the type of a target bracket to be printed; the type of the bracket is related to the shape and the number of the mark points on the bracket; determining a first track of a support rod corresponding to a mark point on the target support in a two-dimensional Cartesian coordinate system plane based on the type of the target support; determining a third track of all struts of the target bracket on a two-dimensional Cartesian coordinate system plane based on the first track and the second track; the second track is the track of the support rod of the support frame without the mark points on the plane of the two-dimensional Cartesian coordinate system; the second track comprises a plurality of single continuous tracks which are formed by adjacent struts with the same inclination direction; based on the coordinates of the third track in the two-dimensional Cartesian coordinate system plane, the size and the shape of the cross section area of each supporting rod in the third track and the crossing angle between each supporting rod and the adjacent supporting rod, respectively generating a numerical control programming language corresponding to the first track and the second track; the numerical control programming language comprises the nozzle printing speed and the nozzle position coordinates of a target bracket printed by a target printer; determining a target printing direction of a target bracket, and combining the numerical control programming languages corresponding to the first track and the second track based on the target printing direction to obtain a target numerical control programming language corresponding to the target bracket; and inputting the target numerical control programming language into the target printer so that the target printer prints the target bracket according to the target numerical control programming language.

In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the stent printing method with marking points provided by the methods described above, the method comprising: determining the type of a target bracket to be printed; the type of the bracket is related to the shape and the number of the mark points on the bracket; determining a first track of a support rod corresponding to a mark point on the target support in a two-dimensional Cartesian coordinate system plane based on the type of the target support; determining a third track of all struts of the target bracket on a two-dimensional Cartesian coordinate system plane based on the first track and the second track; the second track is the track of the support rod of the support frame without the mark points on the plane of the two-dimensional Cartesian coordinate system; the second track comprises a plurality of single continuous tracks which are formed by adjacent struts with the same inclination direction; based on the coordinates of the third track in the two-dimensional Cartesian coordinate system plane, the size and the shape of the cross section area of each supporting rod in the third track and the crossing angle between each supporting rod and the adjacent supporting rod, respectively generating a numerical control programming language corresponding to the first track and the second track; the numerical control programming language comprises the nozzle printing speed and the nozzle position coordinates of a target bracket printed by a target printer; determining a target printing direction of a target bracket, and combining the numerical control programming languages corresponding to the first track and the second track based on the target printing direction to obtain a target numerical control programming language corresponding to the target bracket; and inputting the target numerical control programming language into the target printer so that the target printer prints the target bracket according to the target numerical control programming language.

The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.

From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A stent printing method with marking points, characterized in that a stent is tubular, the stent being composed of struts intersecting at intersecting angles of a target angular range in an axial direction of the stent, the struts being straight or curved, the method comprising:

2. The stent printing method with marking points according to claim 1, wherein the determining a first trajectory of a strut corresponding to the marking points on the target stent in a two-dimensional cartesian coordinate system plane based on the type of the target stent comprises

3. The stent printing method with marking points according to claim 2, wherein the second trajectory is determined by:

4. The stent printing method with marking points according to claim 1, wherein the generating the numerical control programming language corresponding to the first track and the second track based on the coordinates of the third track in the two-dimensional cartesian coordinate system plane and the size and shape of the cross-sectional area of each strut in the third track and the intersection angle between each strut and the adjacent strut respectively includes:

Based on the size and shape of the cross-sectional areas of each strut in the first track and the second track and the crossing angle between each strut and the adjacent strut, respectively determining the number and distribution positions of control points used for generating a numerical control programming language in the first track and the second track;

5. The method of printing a stent with mark points according to claim 4, wherein generating the numerical control programming language corresponding to the first track and the second track based on the coordinates of the third track in the two-dimensional cartesian coordinate system plane and the size and shape of the cross-sectional area of each strut in the third track and the intersection angle between each strut and the adjacent strut, respectively, further comprises:

6. The stent printing method with marking points according to claim 2, wherein extracting a first trajectory corresponding to a strut constituting a marking point from the initial trajectories, comprises:

7. A bracket printing apparatus having marking points, comprising:

8. A stent with marking points, characterized in that it is printed by the stent printing method with marking points according to any one of claims 1 to 6.

9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of printing a stent with marking points according to any one of claims 1 to 6 when the program is executed.

10. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program when executed by a processor implements the stent printing method with marking points according to any of claims 1 to 6.