Abstract: The present disclosure provides methods for freeform extrusion-based additive manufacturing via a robotic arm. In specific aspects, methods are particularly provided for minimally invasive, intracorporeal three-dimensional printing of biocompatible materials. An end effector of a robotic arm includes a sharp member and a reservoir filled with a printing material. The provided method may include piercing a substrate with the sharp member. A bulb or micro-bolus of material may be extruded beneath the substrate surface to act as an anchor. The end effector may be manipulated to extrude biomaterial along a printing path. Periodically along the printing path, the sharp member is used to pierce the substrate surface create additional respective anchors. In some instances, the method may terminate after extruding material to form a single layer construct. In other instances, the method includes forming one or more layers on top of the initial base layer anchored to the substrate.

Abstract: An additive manufacturing (AM) device for biomaterials comprises a reservoir, a shaft, and a material delivery head. The device can be used for intracorporeal additive manufacturing. Material within the reservoir can be expelled by a mechanical transmission element, for example a syringe pump, a peristaltic pump, an air pressure pump, or a hydraulic pressure pump. The reservoir can be a barrel, a cartridge, or a cassette. The reservoir can narrow into the shaft, and the shaft can terminate into the nozzle. The shaft can house an inner tube. The device can have an actuator joint capable of being mechanically linked to a robotic surgical system. The actuator joint can have a motor that drives the mechanical transmission element.

Abstract: The present disclosure provides methods for freeform extrusion-based additive manufacturing via a robotic arm. In specific aspects, methods are particularly provided for minimally invasive, intracorporeal three-dimensional printing of biocompatible materials. An end effector of a robotic arm includes a sharp member and a reservoir filled with a printing material. The provided method may include piercing a substrate with the sharp member. A bulb or microbolus of material may be extruded beneath the substrate surface to act as an anchor. The end effector may be manipulated to extrude biomaterial along a printing path. Periodically along the printing path, the sharp member is used to pierce the substrate surface create additional respective anchors. In some instances, the method may terminate after extruding material to form a single layer construct. In other instances, the method includes forming one or more layers on top of the initial base layer anchored to the substrate.

Abstract: The present disclosure provides methods for freeform extrusion-based additive manufacturing via a robotic arm. In specific aspects, methods are particularly provided for minimally invasive, intracorporeal three-dimensional printing of biocompatible materials. An end effector of a robotic arm includes a sharp member and a reservoir filled with a printing material. The provided method may include piercing a substrate with the sharp member. A bulb or microbolus of material may be extruded beneath the substrate surface to act as an anchor. The end effector may be manipulated to extrude biomaterial along a printing path. Periodically along the printing path, the sharp member is used to pierce the substrate surface create additional respective anchors. In some instances, the method may terminate after extruding material to form a single layer construct. In other instances, the method includes forming one or more layers on top of the initial base layer anchored to the substrate.

Abstract: An additive manufacturing (AM) device for biomaterials comprises a reservoir, a shaft, and a material delivery head. The device can be used for intracorporeal additive manufacturing. Material within the reservoir can be expelled by a mechanical transmission element, for example a syringe pump, a peristaltic pump, an air pressure pump, or a hydraulic pressure pump. The reservoir can be a barrel, a cartridge, or a cassette. The reservoir can narrow into the shaft, and the shaft can terminate into the nozzle. The shaft can house an inner tube. The device can have an actuator joint capable of being mechanically linked to a robotic surgical system. The actuator joint can have a motor that drives the mechanical transmission element.

Abstract: An additive manufacturing (AM) device for biomaterials comprises a reservoir, a shaft, and a material delivery head. The device can be used for intracorporeal additive manufacturing. Material within the reservoir can be expelled by a mechanical transmission element, for example a syringe pump, a peristaltic pump, an air pressure pump, or a hydraulic pressure pump. The reservoir can be a barrel, a cartridge, or a cassette. The reservoir can narrow into the shaft, and the shaft can terminate into the nozzle. The shaft can house an inner tube. The device can have an actuator joint capable of being mechanically linked to a robotic surgical system. The actuator joint can have a motor that drives the mechanical transmission element.

Abstract: This invention provides methods and devices for the high-throughput characterization of the mechanical properties of cells or particles. In certain embodiments the devices comprise a micro fluidic channel comprising: an oscillating element on a first side of said channel; and a detecting element on a second side of said channel opposite said oscillating element, wherein said detecting element is configured to detect a force transmitted through a cell or microparticle by said oscillating element. In certain embodiments the devices comprise a microfluidic channel comprising an integrated oscillator and sensor element on one first side of said channel, wherein said sensor is configured to detect a force transmitted through a cell or microparticle by said oscillator.

Abstract: An additive manufacturing (AM) device for biomaterials comprises a reservoir, a shaft, and a material delivery head. The device can be used for intracorporeal additive manufacturing. Material within the reservoir can be expelled by a mechanical transmission element, for example a syringe pump, a peristaltic pump, an air pressure pump, or a hydraulic pressure pump. The reservoir can be a barrel, a cartridge, or a cassette. The reservoir can narrow into the shaft, and the shaft can terminate into the nozzle. The shaft can house an inner tube. The device can have an actuator joint capable of being mechanically linked to a robotic surgical system. The actuator joint can have a motor that drives the mechanical transmission element.

Abstract: This invention provides methods and devices for the high-throughput characterization of the mechanical properties of cells or particles. In certain embodiments the devices comprise a microfluidic channel comprising: an oscillating element on a first side of the channel; and a detecting element on a second side of the channel opposite the oscillating element, wherein the detecting element is configured to detect a force transmitted through a cell or microparticle by the oscillating element. In certain embodiments the devices comprise a microfluidic channel comprising an integrated oscillator and sensor element on one first side of the channel, wherein the sensor is configured to detect a force transmitted through a cell or microparticle by the oscillator.

Abstract: This invention provides methods and devices for the high-throughput characterization of the mechanical properties of cells or particles. In certain embodiments the devices comprise a micro fluidic channel comprising: an oscillating element on a first side of said channel; and a detecting element on a second side of said channel opposite said oscillating element, wherein said detecting element is configured to detect a force transmitted through a cell or microparticle by said oscillating element. In certain embodiments the devices comprise a microfluidic channel comprising an integrated oscillator and sensor element on one first side of said channel, wherein said sensor is configured to detect a force transmitted through a cell or microparticle by said oscillator.

Abstract: This invention provides methods and devices for the high-throughput characterization of the mechanical properties of cells or particles. In certain embodiments the devices comprise a microfluidic channel comprising: an oscillating element on a first side of said channel; and a detecting element on a second side of said channel opposite said oscillating element, wherein said detecting element is configured to detect a force transmitted through a cell or microparticle by said oscillating element. In certain embodiments the devices comprise a microfluidic channel comprising an integrated oscillator and sensor element on one first side of said channel, wherein said sensor is configured to detect a force transmitted through a cell or microparticle by said oscillator.