Dynamic additive manufacturing onto free-moving human anatomy via temporal coarse/fine control

The ability to deposit fluids with viable cells onto unfixtured free-moving substrate or non-planar unconstrained anatomy can enable a new class of medical procedures in fields such as reconstructive surgery, cosmetic treatments, and skin grafting. To this end, this work investigates a visual servo, temporal coarse/fine approach to 3D printing on the human hand using low-cost hardware kinematically optimized to match empirically recorded hand dynamics. Temporal coarse/fine shows a significant improvement in print area of a target point as compared to traditional techniques.

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