Simulation Analysis of Trajectory Planning for Robot-Assisted Stereotactically Biological Printing

  • Wanru Fei
  • Baosen Tan
  • Shaolong Kuang
  • Yubo Fan
  • Wenyong LiuEmail author
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11745)


Application of 3D printing in the individualized fabrication of biological organ receives more and more attentions. The adopted movement trajectories of nozzle in 3D printing are all based on depositing materials vertically layer by layer. We noticed that the biological organ has always anisotropic property and its natural growing procedure implies a so-called stereotactic fabrication method which can be implemented utilizing robotic techniques. In this research, we proposed and simulated a robot-assisted stereotactic printing method. Kinematics analysis of the robotic manipulator was analyzed. Trajectory planning method for stereotactic operation was designed. Motion simulation analysis of the planned trajectory utilizing manipulator was conducted which validated effectiveness of the proposed printing system from aspects of motion accuracy, flexibility, and potential collisions. The results indicated flexibility of the proposed robot-assisted stereotactic printing technology.


3D printing Robotics Trajectory planning Stereotactic Simulation 



The work is supported by the Beijing Natural Science Foundation (Grant no. Z170001), and the National Key R&D Program of China (Grant no. 2018YFB1307603).


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Wanru Fei
    • 1
    • 2
  • Baosen Tan
    • 1
  • Shaolong Kuang
    • 3
  • Yubo Fan
    • 1
    • 2
  • Wenyong Liu
    • 1
    • 2
    Email author
  1. 1.School of Biological Science and Medical EngineeringBeihang UniversityBeijingChina
  2. 2.Beijing Advanced Innovation Center for Biomedical EngineeringBeihang UniversityBeijingChina
  3. 3.Robotics and Micro-Systems CenterSoochow UniversitySuzhouChina

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