[Submitted on 10 Sep 2026]
Title:A Physics-Based Closed-Loop Robotic Bioprinting Framework Towards Volumetric Muscle Loss Treatment
View a PDF of the paper titled A Physics-Based Closed-Loop Robotic Bioprinting Framework Towards Volumetric Muscle Loss Treatment, by Omid Rezayof and 7 other authors
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Abstract:Robotic bioprinting and Direct Ink Writing (DIW) are being explored towards the treatment of Volumetric Muscle Loss (VML). While previous studies have shown the importance of proper parameter selection on the print outcome, existing approaches often rely on time- and material-intensive design of experiments methods, or require large, well-curated datasets for training machine learning models. In this paper, we propose a physics-based closed-loop robotic bioprinting system capable of near real-time parameter adaptation. The system integrates a 3D point cloud camera and fully autonomous vision-based algorithms to provide quantitative evaluation of printed constructs. This evaluation is fed into a controller that adjusts printing parameters to achieve a desired bead thickness. To assess the framework's performance, four experimental configurations were tested, each repeated three times. In these tests, printing began from an arbitrary initial parameter value, and the controller was tasked with adjusting the parameters to reach the desired thickness. The system converged in all trials, achieving a tracking error below 0.5 mm within an average of 5.2 seconds from the start of printing. The low standard deviation of the converged pressure over different tests (0.04 bar on average) demonstrates robustness and repeatability. Additional experiments were conducted with the controller turned off, enabling direct comparison with open-loop DIW bioprinting, further confirming the effectiveness of the proposed closed-loop framework in achieving the desired bead geometry.
Comments: This paper has been accepted for publication and presentation in 2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2026)
Subjects:
Robotics (cs.RO)
Cite as: arXiv:2609.12159 [cs.RO]
(or arXiv:2609.12159v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2609.12159
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: Omid Rezayof [view email] [v1] Thu, 10 Sep 2026 19:44:51 UTC (1,411 KB)
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