Chairez Orta, Jorge IsaacAyala Roldán, Diana Paola2025-01-062024-12Ayala Roldan, D. P. (2024). Three-dimensional bioprinter based on a robotic manipulator for the development of arbitrarily shaped scaffolds for tissue engineering applications [Tesis maestría]. Instituto Tecnológico y de Estudios Superiores de Monterrey. Recuperado de: https://hdl.handle.net/11285/702971https://hdl.handle.net/11285/702971https://doi.org/10.60473/ritec.47https://orcid.org/0000-0002-1886-5307This 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.TextoengopenAccesshttp://creativecommons.org/licenses/by/4.0INGENIERÍA Y TECNOLOGÍA::CIENCIAS TECNOLÓGICAS::TECNOLOGÍA MÉDICA::OTRASTechnologyMedicineScienceTesis de Maestría / master Thesishttps://orcid.org/0009-0009-6079-8708BioprinterRobotic ArmExtruderMatlabComputer VisiónScaffolds