High-Precision Multi-Axis Robotic Printing: Optimized Workflow for Complex Tissue Creation

Three-dimensional bioprinting holds great promise for tissue engineering, but struggles with fabricating complex curved geometries such as vascular networks. Though precise, traditional Cartesian bioprinters are constrained by linear layer-by-layer deposition along fixed axes, resulting in limitations such as the stair-step effect. Multi-axis robotic bioprinting addresses these challenges by allowing dynamic nozzle orientation and motion along curvilinear paths, enabling conformal printing on anatomically relevant surfaces. Although robotic arms offer lower mechanical precision than CNC stages, accuracy can be enhanced through methods such as vision-based toolpath correction. This study presents a modular multi-axis robotic embedded bioprinting platform that integrates a six-degrees-of-freedom robotic arm, a pneumatic extrusion system, and a viscoplastic support bath. A streamlined workflow combines CAD modeling, CAM slicing, robotic simulation, and automated execution for efficient fabrication. Two case studies validate the system's ability to print freeform surfaces and vascular-inspired tubular constructs with high fidelity. The results highlight the platform's versatility and potential for complex tissue fabrication and future in situ bioprinting applications.