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. 2021 Aug 20;12:5072. doi: 10.1038/s41467-021-25386-w

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© The Author(s) 2021

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/.

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Fig. 1 — a Schematic illustration of the minimally invasive printing with functional inks (e.g., conducting polymer and living materials) inside the human body through a small incision; in the zoomed-in panel, B represents the magnetic field. b Schematic illustration of the traditional printing system using a rigid nozzle with a large incision. c Schematic of FSCR that is composed of soft polymer matrix with dispersed hard-magnetic particles and polylactide (PLA) reinforcing mesh. The magnetic polarity is programmed along the FSCR axial direction. d The numerical control strategy of FSCR, where operations are instructed by digital data. Maneuvering of the FSCR via rotation and translation of the four permanent magnets.