System and method for transferring tissue

A bioprinting system, comprising:

• a plurality of bioreactors, each having a tissue enclosure for receiving delivered tissue, the tissue enclosure including a plurality of control points, the tissue enclosure including production line mounting features;
• a multi-axis, multi-dimensional robotic printer having a delivery device operably coupled with the printer, the delivery device delivering tissue to be printed to said tissue enclosure;
• a controller controlling the motion of said robotic printer, said controller accessing a design and converting the design to coordinates that direct the robotic printer to print tissue into each tissue enclosure, the controller executing commands including:
• accessing parameters associated with the design;
• pathing of the design based on the parameters to producing coordinates of the design;
• and
• transferring the coordinates from the controller to the robotic printer;
• a motion controller within the robotic printer processing the coordinates including:
• converting coordinates to delivery points, an approach vector, an orientation vector, and at least one path;
• choosing a robot figure for each path, based on a desired robot position and range of motion;
• determining a translation data type based on the approach vector, the orientation vector, and the robot figure;
• creating at least one motion command based on the translation data type and the delivery points;
• and printing the tissue into each tissue enclosure by commanding the printer based on the at least one motion command.