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International Journal of Bioprinting Robotic in situ bioprinting

Table 1. Comparisons of typical robot configurations for in situ 3D bioprinting
Configuration Advantages Disadvantages Workspace
Cartesian • Simpler mechanical engineering design • Nonflexible operation restricted by axes Restricted
• Transferability from conventional 3D printing • Non‑negligible staircase effect
• High stiffness compared with articulated design • Unable to print on curvilinear or irregular surfaces
Articulated • Excellent flexibility, owing to multiple DOFs • Low intraoperative correction ability if the controller fails Large
• Enhanced by cutting‑edge control algorithms • Singularity issue
• Compatible with minimally invasive surgery • Relatively complex inverse kinematics
• High foldability and small footprint
Parallel • Simple structure and easy installation • Massive linkages Medium
• Easy replacement of machine elements • Singularity issue due to parallel linkages
• High precision at fast speed
DOF: Degrees of freedom

A

B C

Figure 4. Tests of robotic-assisted bioprinted cartilage, bone, and skin. (A) Scaffold implantation process, and gross appearance of the repaired cartilage at
[49]
different weeks (left); histological evaluation of the repaired cartilage (right) (from ref. [49] licensed under Creative Commons Attribution 4.0 license). (B)
Histology tests of bone repair in a calvaria defect in mice at 1 and 2 months post printing using hematoxylin-eosin-safran staining [40] (from ref. [40] licensed
under Creative Commons Attribution 4.0 license). (C) In situ bioprinted autologous and allogeneic fibroblasts and keratinocytes compared to bioprinted
[54]
fibrinogen/collagen (matrix only) and untreated control over weeks (from ref. [54] licensed under Creative Commons Attribution 4.0 license).
its potential application in clinical settings. The in vivo of chondrocytes in the hydrogel implantation and in situ
experiment was conducted on rabbits. The arrangement bioprinting groups was closer to native cartilage .
[49]

Volume 9 Issue 1 (2023) 103 https://doi.org/10.18063/ijb.v9i1.629