Fig. 4

Validation of QA workflow on 3D printed scaffolds with varying complexity and porosity. (A) Six scaffolds were designed with various porosities (homogeneous or heterogeneous) and external geometries (cylinder, human zygoma, or human orbital arch). (B) Successful autonomous registration was achieved for all 6 scaffolds. (C) Using successful registration, a heatmap of voxel-to-voxel error for each scaffold was generated where each voxel’s deviation from the design intent was observed. The orbital arch exhibited noticeably worse voxel error than simpler geometries such as the cylinder