Optimization-based conformal path planning for in situ bioprinting during complex skin defect repair

作     者：Wenxiang Zhao Chuxiong Hu Yunan Wang Shize Lin Ze Wang Tao Xu 赵文祥;胡楚雄;王煜楠;林世泽;汪泽;徐弢

作者机构：State Key Laboratory of Tribology in Advanced EquipmentDepartment of Mechanical EngineeringTsinghua UniversityBeijing 100084China Beijing Key Laboratory of Precision and Ultra-Precision Manufacturing Equipment and ControlTsinghua UniversityBeijing 100084China Center for Bio-intelligent Manufacturing and Living Matter BioprintingResearch Institute of Tsinghua University in ShenzhenTsinghua UniversityShenzhen 518057China 

出 版 物：《Bio-Design and Manufacturing》 (生物设计与制造(英文))

年 卷 期：2025年第8卷第1期

页      面：1-19,I0001页

核心收录：

学科分类：0831[工学-生物医学工程（可授工学、理学、医学学位）] 08[工学] 0802[工学-机械工程] 0836[工学-生物工程] 080201[工学-机械制造及其自动化] 

基　　金：supported in part by the National Natural Science Foundation of China(Nos.52205532 and 624B2077) the National Key Research and Development Program of China(No.2023YFB4302003) 

主　　题：In situ bioprinting Path planning Robot control Skin injury repair 

摘      要：The global demand for effective skin injury treatments has prompted the exploration of tissue engineering *** three-dimensional(3D)bioprinting has shown promise,challenges persist with respect to achieving timely and compatible solutions to treat diverse skin *** situ bioprinting has emerged as a key new technology,since it reduces risks during the implantation of printed scaffolds and demonstrates superior therapeutic ***,maintaining printing fidelity during in situ bioprinting remains a critical challenge,particularly with respect to model layering and path *** study proposes a novel optimization-based conformal path planning strategy for in situ bioprinting-based repair of complex skin *** strategy employs constrained optimization to identify optimal waypoints on a point cloud-approximated curved surface,thereby ensuring a high degree of similarity between predesigned planar and surface-mapped 3D ***,this method is applicable for skin wound treatments,since it generates 3D-equidistant zigzag curves along surface tangents and enables multi-layer conformal path planning to facilitate the treatment of volumetric ***,the proposed algorithm was found to be a feasible and effective treatment in a murine back injury model as well as in other complex models,thereby showcasing its potential to guide in situ bioprinting,enhance bioprinting fidelity,and facilitate improvement of clinical outcomes.