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

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.