Optimization-based conformal path planning for in situ bioprinting during complex skin defect repair  

基于优化的共形路径规划指导原位生物打印修复皮肤损伤

作　　者：Wenxiang Zhao Chuxiong Hu Yunan Wang Shize Lin Ze Wang Tao Xu 赵文祥;胡楚雄;王煜楠;林世泽;汪泽;徐弢(清华大学机械工程系高端装备界面科学与技术全国重点实验室,北京市100084;清华大学机械工程系精密超精密制造装备及控制北京市重点实验室,北京市100084;深圳清华大学研究院生物智能制造和活体打印研发中心,深圳市518057)

机构地区：[1]State Key Laboratory of Tribology in Advanced Equipment,Department of Mechanical Engineering,Tsinghua University,Beijing 100084,China [2]Beijing Key Laboratory of Precision and Ultra-Precision Manufacturing Equipment and Control,Tsinghua University,Beijing 100084,China [3]Center for Bio-intelligent Manufacturing and Living Matter Bioprinting,Research Institute of Tsinghua University in Shenzhen,Tsinghua University,Shenzhen 518057,China

出　　处：《Bio-Design and Manufacturing》2025年第1期1-19,I0001,共20页生物设计与制造(英文)

基　　金：supported in part by the National Natural Science Foundation of China(Nos.52205532 and 624B2077);the National Key Research and Development Program of China(No.2023YFB4302003).

摘　　要：The global demand for effective skin injury treatments has prompted the exploration of tissue engineering solutions.While three-dimensional(3D)bioprinting has shown promise,challenges persist with respect to achieving timely and compatible solutions to treat diverse skin injuries.In situ bioprinting has emerged as a key new technology,since it reduces risks during the implantation of printed scaffolds and demonstrates superior therapeutic effects.However,maintaining printing fidelity during in situ bioprinting remains a critical challenge,particularly with respect to model layering and path planning.This study proposes a novel optimization-based conformal path planning strategy for in situ bioprinting-based repair of complex skin injuries.This strategy employs constrained optimization to identify optimal waypoints on a point cloud-approximated curved surface,thereby ensuring a high degree of similarity between predesigned planar and surface-mapped 3D paths.Furthermore,this method is applicable for skin wound treatments,since it generates 3D-equidistant zigzag curves along surface tangents and enables multi-layer conformal path planning to facilitate the treatment of volumetric injuries.Furthermore,the proposed algorithm was found to be a feasible and effective treatment in a murine back injury model as well as in other complex models,thereby showcasing its potential to guide in situ bioprinting,enhance bioprinting fidelity,and facilitate improvement of clinical outcomes.随着全球对高效皮肤损伤治疗方法的需求不断增长,组织工程技术成为研究热点。原位生物打印技术因其在植入打印支架时降低风险并展现出更好的治疗效果而受到关注。本研究提出一种创新的基于优化的共形路径规划策略,专门用于修复复杂的皮肤损伤。该策略通过约束优化方法,在点云近似的曲面上确定最佳路径点,确保了预设计的平面路径与实际曲面路径之间的高度一致性。此外,这种方法在皮肤伤口治疗中具有实际应用价值,因为它能够沿着表面切线生成等距的三维之字形曲线,并支持多层共形路径规划,有助于处理体积较大的损伤。研究发现,所提出的方法在小鼠背部损伤模型和其他复杂模型中均显示出了可行性和有效性,这表明它能够指导原位生物打印,提高打印精度,并有助于改善临床治疗效果。相关研究结果为未来皮肤损伤治疗提供新方向和便利。

关 键 词：In situ bioprinting Path planning Robot control Skin injury repair 

分 类 号：O18[理学—数学]