Fig. 5From: Robot-aided electrospinning toward intelligent biomedical engineeringRobotics multi-nozzle electrospinning was designed by Yang et al. [65]. a The overall structure of the multi-nozzle electrospinning. b The details of the spinneret with a shield ring. c, d In x–y–z or x–y plane, the 3D and 2D needle distributions were presentedBack to article page