Fig. 6: In vivo minimally invasive printing of conductive hydrogel on rat liver.
From: Ferromagnetic soft catheter robots for minimally invasive bioprinting
a Left: schematic of CT imaging of a living rat; Right: CT images of a rat with artificial pneumoperitoneum; Insets show profile of liver. b Reconstruction of the natural surface of rat liver and desired 3D spiral printing path. c Schematic illustration and image of the experimental setup for the in vivo experiment. The color represents the height magnitude. d Left: Photographs of the process of minimally invasive bioprinting with a conductive hydrogel on the liver surface at different times; Right and image of the printed pattern on the surface of the rat liver.
