Fig. 2: PZT free-form fabrication and piezoelectric performance of the as-fabricated piezoelectric elements.

a Micro-curved stave elements with different curvatures. b Hemisphere elements used in a general ultrasound transducer for medical imaging and nondestructive testing. c Helical element for generating spiral acoustic fields for ultrasound manipulation. d Cylindrical transducer element with multiple concentric annular layers. e Lattice sensor element for low-frequency (<100 kHz) ultrasound. f Force sensor element with ultrahigh sensitivity. g SEM image comparison between samples sintered by conventional sintering and optimized sintering methods. h Sound speed measurements against the sample thickness. Error bars represent standard deviation (n = 5). i Polarization-electric field (P-E) loop of 3D printed PZT. The remnant polarization Pr is 32.4 µC/cm2, which is 84% of the value of pristine materials. j d33 and coupling factor kt benchmarked with state-of-the-art 3D printed piezoelectric materials.