Fig. 4: Improving printing accuracy with an integrated feedback system.

a Video snapshot during the printing of the artery without feedback. b Micro-CT scan of the printed artery (without feedback), rendered with transparency to show the occlusions. c Photograph of the printed artery (without feedback) perfused with a red dye, to visualize the open channels. d–f Corresponding data for the artery printed with feedback. g Digital model of the printed artery. A comparative video recording of the artery prints is available as Supplementary Movie 4. h Video snapshot, (i) micro-CT rendering, and j photograph of the hearing aid model without feedback. k–m Corresponding data for the hearing aid with feedback. n Hearing aid model. i and l show the deviation of the printed parts with respect to the digital model n, as measured by the micro-CT. The scale bars are 5 mm.