Abstract: Systems and methods for a robotic fabrication and assembly platform providing a plurality of printable materials for fabrication of a three-dimensional object are provided. A method includes activating a pneumatic actuator to extend a quick-change turret from a pneumatic seal. The method may insert a plurality of barrels into the quick-change turret. The method may also align one of the plurality of barrels with a pneumatic seal in the quick-change turret. The method may also disengage the pneumatic actuator to seat the aligned barrel onto the pneumatic seal and print a three-dimensional object. The method may further halt the printing of the three-dimensional object prior to completion and engage the pneumatic actuator to extend the quick-change turret from the pneumatic seal.

Abstract: An end effector calibration assembly includes an electronic controller, a first camera assembly communicatively coupled to the electronic controller, and a second camera assembly communicatively coupled to the electronic controller. A first image capture path of the first camera assembly intersects a second image capture path of the second camera assembly. The electronic controller receives image data from the first camera assembly, receives image data from the second camera assembly, and calibrates a position of the robot end effector based on the image data received from the first camera assembly and the second camera assembly.

Abstract: Methods and systems for designing a volumetric model of a construct at a user interface through use of a 3-D design, fabrication and assembly system comprising a modeling component, a robotic assembly workstation component, and a workflow configuration module to generate, through the workflow configuration module, a 3-D print bill of materials for a rendered volumetric model; generate a workflow configuration model based on the 3-D print bill of materials, the model including an automated robot control scheme of a series of assembly order instructions to direct a multi-axis robot of the robotic assembly workstation component to print and/or assemble a construct; transmit the workflow configuration model to the robotic assembly workstation component with a print and/or assembly command in accordance with the automated robot control scheme; and print and/or assemble the construct with the multi-axis robot in accordance with the print and/or assembly command.

Abstract: A bioassembly system having a tissue/object modeling software component fully and seamlessly integrated with a robotic bioassembly workstation component for the computer-assisted design, fabrication and assembly of biological and non-biological constructs. The robotic bioassembly workstation includes a six-axis robot providing the capability for oblique-angle printing, printing by non-sequential planar layering, and printing on print substrates having variable surface topographies, enabling fabrication of more complex bio-constructs including tissues, organs and vascular trees.

Abstract: Methods and systems for 3D printing use a 3D printing device defined by a polar coordinate frame including an r-axis, a z-axis, and a rotational theta axis. The device includes a base, a rotatably attached printing stage is rotatably attached, a z-axis aligned pair of towers, an r-axis aligned rail slidably coupled to the towers, a print head slidably disposed on the rail, a printing tool coupling component (“master”) joined to the print head, and a rotatable tool carousel with bays housing printing tools, each including a printing tool body (“slave”). The slave may be coupled with and locked to or unlocked from the master to form a coupled tool assembly through a mechanical actuation assembly. With the coupled tool assembly, a printing tool is removable from a respective bay when the coupled tool assembly moves along the r-axis in a direction opposite from the rotatable tool carousel.

Abstract: A bioassembly system having a tissue/object modeling software component fully and seamlessly integrated with a robotic bioassembly workstation component for the computer-assisted design, fabrication and assembly of biological and non-biological constructs. The robotic bioassembly workstation includes a six-axis robot providing the capability for oblique-angle printing, printing by non-sequential planar layering, and printing on print substrates having variable surface topographies, enabling fabrication of more complex bio-constructs including tissues, organs and vascular trees.

Abstract: Methods and systems for 3D printing use a 3D printing device defined by a polar coordinate frame including an r-axis, a z-axis, and a rotational theta axis. The device includes a base, a rotatably attached printing stage is rotatably attached, a z-axis aligned pair of towers, an r-axis aligned rail slidably coupled to the towers, a print head slidably disposed on the rail, a printing tool coupling component (“master”) joined to the print head, and a rotatable tool carousel with bays housing printing tools, each including a printing tool body (“slave”). The slave may be coupled with and locked to or unlocked from the master to form a coupled tool assembly through a mechanical actuation assembly. With the coupled tool assembly, a printing tool is removable from a respective bay when the coupled tool assembly moves along the r-axis in a direction opposite from the rotatable tool carousel.

Abstract: An end effector includes a continuous volume that holds a constituent and includes a nozzle, a suspension frame disposed within the continuous volume, an actuator, and an agitation needle that protrudes from the continuous volume through the nozzle. The actuator is suspended by the suspension frame within the continuous volume such that the constituent within the continuous volume is in direct contact with one or more of the actuator and the agitation needle. The actuator is configured to actuate such that, upon actuation, the constituent transforms from a static state to a pseudo-fluid like state for application with the end effector.

Abstract: A 3D printer includes a multi-axis robot arm comprising a deposition end effector, a rotating adjustable print stage comprising a rotary unit and a mandrel, the rotating adjustable print stage configured to rotate the mandrel around a rotation axis, and a control unit. The control unit may be configured to move the robotic arm in a radial dimension and a longitudinal dimension with respect to the mandrel to position the deposition end effector with respect to the mandrel, rotate the mandrel with the rotary unit, and cause the deposition end effector to deposit constituent on the mandrel to form a 3D-printed construct.

Abstract: Systems and methods for a robotic fabrication and assembly platform providing a plurality of printable materials for fabrication of a three-dimensional object are provided. A method includes activating a pneumatic actuator to extend a quick-change turret from a pneumatic seal. The method may insert a plurality of barrels into the quick-change turret. The method may also align one of the plurality of barrels with a pneumatic seal in the quick-change turret. The method may also disengage the pneumatic actuator to seat the aligned barrel onto the pneumatic seal and print a three-dimensional object. The method may further halt the printing of the three-dimensional object prior to completion and engage the pneumatic actuator to extend the quick-change turret from the pneumatic seal.

Abstract: A system for automated biological structure identification using machine learning includes a host device configured to receive an instruction selecting a biological structure to identify, access computer readable media storing multiple machine learning models configured to identify biological structures, select a model among the machine learning models based on the received instruction, receive image data, identify the biological structure, out-of-focus, in the image data using the selected model, send adjustment instructions to an imaging device to adjust focus of the imaging device, receive adjusted image data corresponding to the adjustment instructions, and identify the biological structure, in-focus, in the adjusted image data using the selected model. The host device generates annotations corresponding to the identified biological structure and displays the image data and annotations.

Abstract: Methods and systems for designing a volumetric model of a construct at a user interface through use of a 3-D design, fabrication and assembly system comprising a modeling component, a robotic assembly workstation component, and a workflow configuration module to generate, through the workflow configuration module, a 3-D print bill of materials for a rendered volumetric model; generate a workflow configuration model based on the 3-D print bill of materials, the model including an automated robot control scheme of a series of assembly order instructions to direct a multi-axis robot of the robotic assembly workstation component to print and/or assemble a construct; transmit the workflow configuration model to the robotic assembly workstation component with a print and/or assembly command in accordance with the automated robot control scheme; and print and/or assemble the construct with the multi-axis robot in accordance with the print and/or assembly command.

Abstract: Systems and methods for a robotic fabrication and assembly platform providing a plurality of printable materials for fabrication of a three-dimensional object are provided. A method includes activating a pneumatic actuator to extend a quick-change turret from a pneumatic seal. The method may insert a plurality of barrels into the quick-change turret. The method may also align one of the plurality of barrels with a pneumatic seal in the quick-change turret. The method may also disengage the pneumatic actuator to seat the aligned barrel onto the pneumatic seal and print a three-dimensional object. The method may further halt the printing of the three-dimensional object prior to completion and engage the pneumatic actuator to extend the quick-change turret from the pneumatic seal.

Abstract: A 3D printing tool and assembly for dispensing multiple materials includes a barrel holder assembly having at least two barrel orifices extending from a top end of the barrel holder assembly through to a bottom end of the barrel holder assembly, where at least one of the at least two barrel orifices is oriented at an angle from the vertical. A method for operating the 3D printing tool includes positioning a first material distribution barrel within a first barrel orifice, where a first barrel tip is disposed at a first end of the first material distribution barrel. The method further includes dispensing building material from the first material distribution barrel when the first material distribution barrel is substantially vertically oriented and a second material distribution barrel is oriented at an angle from the vertical.

Abstract: A temperature controlled dispensing tool includes a mount and a temperature controlled module coupled to the mount. The temperature controlled module may include a barrel housing, a barrel insert, one or more heating element, one or more cooling element, one or more temperature sensors, and a control unit. The barrel insert is removably insertable into the barrel housing and configured to receive a material barrel. The one or more heating elements and the one or more cooling elements are in thermal communication with the barrel insert. The control unit is configured to determine a temperature of the temperature controlled module based on the signal of the one or more temperature sensors, and selectively operate the one or more heating elements and the one or more cooling elements thereby controlling a temperature of the temperature controlled module.

Abstract: Multi-component fluid mixing devices and methods of manufacturing and using such multi-component fluid mixing devices are provided. The multi-component fluid mixing devices include one or both of a serpentine flow path and an attachment point decoupled from an inlet of the multi-component fluid mixing devices. The method of use includes switching between multi-component fluid mixing devices with different length flow paths, while retaining a constant position of the outlet of the multi-component fluid mixing devices. A manufacturing method includes fusing two halves of a multi-component fluid mixing device together with mixing elements in a serpentine flow path captured in a mixer wall formed between the two halves of the multi-component fluid mixing device.

Abstract: A method for fabricating a cornea includes affixing a frame to at least one cell culture insert comprising a generally cylindrical structure having a proximal end and a distal end, a base disposed at the proximal end, and a porous membrane disposed between the proximal end and the distal end; affixing a dome-shaped member to the porous membrane within the frame, the dome-shaped member comprising a crown, a dome base, and a surface connecting the crown and the dome base; depositing a material comprising a matrix-forming compound on the frame such that the crown and at least a portion of the surface of the dome-shaped member is coated with the material comprising the matrix-forming compound; and removing the dome-shaped member to produce a fabricated cornea attached to the frame. A system for fabricating a cornea and a cornea scaffold are also described herein.

Abstract: Methods and systems for designing a volumetric model of a construct at a user interface through use of a 3-D design, fabrication and assembly system comprising a modeling component, a robotic assembly workstation component, and a workflow configuration module to generate, through the workflow configuration module, a 3-D print bill of materials for a rendered volumetric model; generate a workflow configuration model based on the 3-D print bill of materials, the model including an automated robot control scheme of a series of assembly order instructions to direct a multi-axis robot of the robotic assembly workstation component to print and/or assemble a construct; transmit the workflow configuration model to the robotic assembly workstation component with a print and/or assembly command in accordance with the automated robot control scheme; and print and/or assemble the construct with the multi-axis robot in accordance with the print and/or assembly command.

Abstract: Methods and systems to isolate microvessels using an enriched or purified enzyme to dissociate tissue are described. The systems and methods include a second digestion to digest a top layer, from a first digestion and first centrifuge operation, with the enriched or purified enzyme to generate a second fat-enzyme solution, a second centrifuge operation, and isolation of the microvessels from pellets generated by the first and second centrifuge operations. The systems and methods may include washing the second fat-enzyme solution with an enzyme inhibitor in a post-digestion wash.

Abstract: According to one or more embodiments, a system for detecting defects in a printed construct includes one or more processors, one or more image sensors, and one or more memory modules. The one or more image sensors are communicatively coupled to the one or more processors. Machine readable instructions are stored on the one or more memory modules that, when executed by the one or more processors, cause the system to collect image data of a three-dimensional printed construct from the one or more image sensors, and detect one or more defects within the image data of the three-dimensional printed construct.