Figure 1.

Flexible 3D bioprinter (F3DB) system. a) Schematic of the F3DB that can perform in situ bioprinting on the surface of internal organs and tissues such as the intestine, stomach, or heart at multiple locations. The whole system is driven by soft artificial muscles via an external hydraulic source (motor housing) where the user steers the printing tip via the master console. b) A prototype of the F3DB with its flexible body, 3D printing head, and flexible robotic arm. c) Ex vivo 3D bioprinting of biomaterial on a fresh porcine kidney. d) Tissue dissection on fresh porcine colon using the printing nozzle as an electrosurgery knife.