A Six Degree of Freedom Extrusion Bioprinter

Abstract Motivated by a high demand, the research interest in personalized artificial tissues is steadily increasing. Combining knowledge of additive manufacturing and tissue engineering, field 3D bioprinting emerged. This work presents six-degree-of-freedom mechanically actuated extrusion bioprinter within sterile working environment. The system based on an off-the-shelf robot arm custom modular printhead end-effector. Advanced dexterity achieved six degrees freedom, enabling printing non-planar surfaces. designed for co-axial three fluids but can easily be adapted different number or flows. controller implemented Robot Operating System (ROS) framework plans trajectory path given GCode dialect. Since clean-room-certified, sterilized using hydrogen peroxide steam, placed hood, setup enables under conditions.