Three-dimensional bioprinter based on a robotic manipulator for the development of arbitrarily shaped scaffolds for tissue engineering applications

Abstract

This thesis details the development of a robotic manipulator-based bioprinting system designed to fabricate scaffolds with complex geometries for tissue engineering applications. Incorporating a fivedegree- of-freedom manipulator, the platform addresses limitations of conventional methods, enabling precise and adaptable fabrication. Key technological achievements include: • A robotic manipulator, powered by high-precision servo motors, provides spatial flexibility essential for complex, patient-specific configurations. This expanded range enhances geometries, better mimicking natural tissue structures. • A computer vision system for real-time adjustments, maintaining alignment with the intended design by dynamically tracking the end effector’s position and orientation. This reduces deviations, ensuring high geometric fidelity and structural consistency. • An extrusion mechanism capable of handling bioink with diverse rheological properties, supporting intricate architectures. This flexibility accommodates a broad range of viscosities and structural characteristics. • A control and feedback system that integrates a proportional-integral-derivative (PID) mechanism, stabilizing the robotic arm’s trajectory. This real-time feedback loop enhances positional accuracy, preserving scaffold integrity under varying conditions. This platform exemplifies advancements in fabrication flexibility, precision, and customization, supporting scalable, patient-specific applications in regenerative medicine.