Development and Quantitative Evaluation of a Novel Autonomous In situ Bioprinting Surgical Robotic Framework For...

In situ bioprinting has been identified as a promising tissue engineering technique for treating volumetric muscle loss (VML) injuries. However, the success of this procedure significantly depends on the uniform and precise deposition of cells contributing to the regeneration of muscles. To address this critical need, in this work, we present design and quantitative evaluation of a novel autonomous in situ bioprinting surgical robotic framework that can be used with a generic bioprinting material. The proposed framework consists of three main components: (i) a bioprinting tool integrated with a seven-degree-of-freedom robotic manipulator to perform a precise autonomous bioprinting procedure; (ii) a unique 3D visual measurement framework comprised of a high-accuracy structured light camera with complementary 2D/3D computer vision algorithms- to enable online and accurate measurement and reconstruction of the bioprinted constructs; and (iii) a quantitative evaluation module with novel assessment metrics- to characterize and evaluate the performance of the bioprinting process toward finding optimal bioprinting parameters. To ensure the biological functionality of a printed construct using our robotic system, we performed 90 experiments and identified optimal bioprinting parameters using the proposed novel assessment metrics.

This paper was motivated by the problem of volumetric muscle loss treatment using an in situ bioprinting procedure but it also can be applied for treatment of skin and cartilage injuries. Existing approaches to perform in situ bioprinting is limited to either manual handheld bioprinting devices- that suffer from poor manual control and inaccurate printing constructs- or robotic systems- that have been developed without (i) considering a realistic surgical workflow and (ii) quantitatively evaluating the quality of printed constructs. To collectively address these issues, in this paper, we propose a novel autonomous in situ robotic bioprinting framework. We also introduce unique and complementary quantitative assessment metrics to characterize and evaluate the performance of the bioprinting process. Experiments suggest that the proposed framework can robustly identify optimal bioprinting parameters to ensure the biological functionality of a printed construct using our robotic system.