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Updated: Mar 29, 2026

Operation of the Collaborative Composite Manufacturing CCM System

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Published on: October 1, 2019

Simulation-Based Trajectory for Non-Planar Scaffold Printing on Irregular Patches Using Robotic Arm.

Salvatore D'Alessandro^1,2, Gianluca Cidonio^1,2, Giancarlo Ruocco²

¹Department of Mechanical and Aerospace Engineering, University of Rome "La Sapienza", 00184 Rome, Italy.

Bioengineering (Basel, Switzerland)

|March 28, 2026

Summary

This summary is machine-generated.

This study introduces a new method for 3D bioprinting scaffolds on irregular surfaces using robotic arms and MATLAB. The approach ensures precise scaffold fabrication, mimicking natural tissue morphology for regenerative medicine.

Keywords:

bioprinting non-planar scaffold robotic arm tissue regeneration

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Last Updated: Mar 29, 2026

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Area of Science:

Biomaterials Engineering
Robotics in Medicine
Tissue Engineering

Background:

Scaffold biofabrication for tissue regeneration requires precise replication of native tissue morphology.
Existing methods often struggle with complex, irregular anatomical surfaces.
Patient-specific scaffold fabrication is crucial for regenerative medicine.

Purpose of the Study:

To develop a reproducible and accessible framework for non-planar path generation in scaffold biofabrication.
To enable scaffold fabrication on irregular anatomical surfaces with high geometric conformity.
To advance patient-specific tissue engineering solutions.

Main Methods:

Integration of a simulation-based trajectory optimization system with a robotic arm.
Generation of lattice paths using an intersection-based method with parallel planes.
Utilizing MATLAB for kinematic modeling and trajectory computation, coupled with a coaxial nozzle for biomaterial extrusion.

Main Results:

Achieved smooth trajectory execution with positional standard deviation within the robotic arm's reproducibility threshold.
Demonstrated superior geometric conformity on complex anatomical patches compared to conventional planar methods.
Successfully fabricated scaffolds with controlled deposition and improved geometric accuracy.

Conclusions:

The proposed framework offers a reproducible and accessible method for non-planar scaffold biofabrication.
This approach enhances geometric conformity and accuracy on irregular anatomical surfaces.
It paves the way for patient-specific scaffold fabrication, advancing tissue engineering and regenerative medicine.