Xiongfei Zheng

In industrial trajectory planning and real-time motion control, quintic B-splines are widely used for corner smoothing owing to their local support and high-order continuity. However, existing evaluation methods mainly rely on basis-function recursion or the de Boor algorithm, with limited attention paid to the analytical properties of fixed-topology continuity-constrained structures. This study reveals that, under geometric symmetry and C³ continuity constraints at the junction points, higher-order derivative control-point structures undergo progressive geometric degeneration, whereby second- and third-order derivatives reduce to one-dimensional forms governed by a single direction. Based on this degeneration property, a closed-form reconstruction method for fixed-topology quintic B-spline corner smoothing is developed, yielding unified closed-form expressions for curve position and first- to third-order derivatives. Mathematical analysis proves equivalence between the proposed reconstruction and the original quintic B-spline representation. Numerical validation and efficiency evaluation demonstrate machine-precision consistency with conventional B-spline evaluation while achieving an approximately 3–7-fold speedup in curve and derivative evaluation. System-level trajectory-planning simulations further confirm reduced geometric computation load. The proposed method provides an efficient analytical evaluation framework for real-time trajectory planning and demonstrates how continuity constraints can be exploited to derive efficient analytical spline representations.

Scaffolds play a crucial role in tissue engineering as regenerative templates. Fabricating scaffolds with good biocompatibility and appropriate mechanical properties remains a major challenge in this field. This study proposes a method for preparing multi-material scaffolds, enabling the 3D printing of collagen and thermoplastic elastomers at room temperature. Addressing the previous challenges such as the poor printability of pure collagen and the difficulty of maintaining structural integrity during multilayer printing, this research improved the printability of collagen by optimizing its concentration and pH value and completed the large-span printing of thermoplastic elastomer using a precise temperature-control system. The developed hybrid scaffold has an interconnected porous structure, which can support the adhesion and proliferation of fibroblasts. The scaffolds were further treated with different post-treatment methods, and it was proven that the neutralized and cross-linked collagen scaffold, which has both nano-fibers and a certain rigidity, can better support the osteogenic differentiation of bone marrow mesenchymal stem cells (BMSCs). The research results show that the collagen thermoplastic elastomer hybrid scaffold has significant clinical application potential in soft tissue and hard tissue regeneration, providing a versatile solution to meet the diverse needs of tissue engineering.

Piezoelectric inkjet printing technology, known for its high precision and cost-effectiveness, has found extensive applications in various fields. However, the issue of residual vibration significantly limits its printing quality and efficiency. This paper presents a method for suppressing residual vibration based on the particle swarm optimization (PSO) algorithm. Initially, an improved PI model considering the nonlinear hysteresis characteristics of piezoelectric ceramics is established, and the model is identified through a strain gauge circuit to ensure its accuracy in describing the nonlinear hysteresis characteristics. Subsequently, a dynamic model of the piezoelectric inkjet printing system is constructed, with precise parameter identification achieved using the self-induction principle. This enables precise simulation of residual vibration. Finally, the driving waveform is optimized based on the PSO algorithm, with iterative calculations employed to find the optimal combination of driving waveform parameters, effectively suppressing residual vibration while ensuring sufficient injection energy. The results indicate that this method significantly reduces the amplitude of residual vibration, thereby effectively enhancing printing quality and stability. This research offers a novel solution for residual vibration suppression in piezoelectric inkjet printing technology, potentially advancing its applications in printing and biofabrication.

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Owing to its crucial role in the human body, collagen has immense potential as a material for the biofabrication of tissues and organs. However, highly refined fabrication using collagen remains difficult, primarily because of its notably soft properties. A quantitative biofabrication platform to construct collagen‐based peripheral nerve grafts, incorporating bionic structural and chemical guidance cues, is introduced. A viscoelastic model for collagen, which facilitates simulating material relaxation and fabricating collagen‐based neural grafts, achieving a maximum channel density similar to that of the native nerve structure of longitudinal microchannel arrays, is established. For axonal regeneration over considerable distances, a gradient printing control model and quantitative method are developed to realize the high‐precision gradient distribution of nerve growth factor required to obtain nerve grafts through one‐step bioprinting. Experiments verify that the bioprinted graft effectively guides linear axonal growth in vitro and in vivo. This study should advance biofabrication methods for a variety of human tissue‐engineering applications requiring tailored cues.

Nerve guidance conduits (NGCs) are an essential solution for peripheral nerve repair and regeneration in tissue engineering and medicine. However, the ability of current NGCs is limited to repairing longer nerve gap (i.e., >20 mm) because it cannot meet the following two conditions simultaneously: (1) directional guidance of the axial high-density channels and (2) regenerative stimulation of the extracellular matrix secreted by Schwann cells (SCs). Therefore, we propose a multi-material 3D bioprinting process to fabricate multi-channel nerve guide conduits (MNGCs) containing SCs. In the article, cell-laden methacrylate gelatin (GelMA) was used as the bulk material of MNGCs. To improve the printing accuracy of the axial channels and the survival rate of SCs, we systematically optimized the printing temperature parameter based on hydrogel printability analysis. The multi-material bioprinting technology was used to realize the alternate printing of supporting gelatin and cell-laden GelMA. Then, the high-accuracy channels were fabricated through the UV cross-linking of GelMA and the dissolving technique of gelatin. The SCs distributed around the channels with a high survival rate, and the cell survival rate maintained above 90%. In general, the study on multi-material 3D printing was carried out from the fabricating technology and material analysis, which will provide a potential solution for the fabrication of MNGCs containing SCs.

Engineered implantable functional thick tissues require hierarchical vasculatures within cell‐laden hydrogel that can mechanically withstand the shear stress from perfusion and facilitate angiogenesis for nutrient transfer. Yet current extrusion‐based 3D printing strategies are unable to recapitulate hierarchical networks, highlighting the need for bioinks with tunable properties. Here, we introduce an approach whereby crosslinkable microgels enhance mechanical stability and induce spontaneous microvascular networks comprised of human umbilical cord vein endothelial cells (HUVECs) in a soft gelatin methacryoyl (GelMA)‐based bioink. Furthermore, we successfully implanted the 3D printed multi‐branched tissue, being connected from the rat carotid artery to the jugular vein direct surgical anastomosis. The work represents a significant step toward in the field of large vascularized tissue fabrication and may have implications for the treatment of organ failure in the future.

Fabricating connective tissue with printing fidelity, structural stability, biocompatibility, and cellular orientation remains a challenge for bioink. Collagen, as inherent fibers to provide strength in vivo, should be the ideal material for tissue printing. However, current collagen-bioink exhibits poor printability and mechanical properties. Here, the light-crosslinkable norbornene-collagen (NorCol) is developed to solve this dilemma. NorCol with complete collagen structure exhibits outstanding shear-thinning properties and light-crosslinking strength, realizing the construction of complicated constructs with excellent printing fidelity and structural stability. Neutral-dissolved NorCol with different concentrations is directly integrated to print pure collagen structure with composite modulus, providing top-class biocompatibility that mimics the heterogeneous microarchitecture of the extracellular matrix (ECM). This composite structure also permits extensive infiltration of host tissue and capillaries during subcutaneous transplants. By the designed tight interface of printed filaments, a geometric-guided and modulus-independent anisotropic mechanical environment is constructed, realizing cellular orientation. Furthermore, the cellular orientation is in the same direction as the printed high-concentration NorCol, which is the same case of cells and collagen fibers in vivo. This capability of NorCol breaks new ground for printing pure ECM protein-based, implantable and functional constructs, applicable in connective tissue engineering for human applications.