• Biofabrication. Robotic. Bioprinting.

During the thesis work, various 3D printing technologies were integrated into a robotic platform for in situ bioprinting, which was modified to enable automatic usage, selection, and tool change. Initially, a Valve-jet printing tool was characterized and employed with Pluronic, Alginate, and Gelatin loaded with hydroxyapatite nanoparticle materials. Control electronics were developed to facilitate the integration of an Ink-jet printing module, enabling the robotic platform to possess a wide array of printing tools, including syringe pump extrusion, Valve-jet, Ink-jet, as well as a tool for surface scanning and reconstruction (probing). Novel robotic components were designed and manufactured to enable fully automated tool changes by the robot, eliminating the need for manual electrical and pneumatic connections to various instruments. Additionally, an NFC system was introduced for tool recognition, allowing the robot to autonomously identify the correct tool and establish connections. The objective was to harness a diverse set of technologies within a single, fully autonomous, multimaterial, and multi-tool printing process.