Key Laboratory of Bionic Engineering Ministry of Education Jilin University Changchun 130025 China;
Center of Reproductive Medicine Center of Prenatal Diagnosis The First Hospital of Jilin University Changchun 130021 China;
Key Laboratory of Bionic Engineering Ministry of Education Jilin University Changchun 130025 ChinaSchool of Mechanical Aerospace and Civil Engineering University of Manchester Manchester M139PL UK;
4D printing; additive manufacturing; smart materials; driving mode; shape memory polymer; hydrogel; liquid crystal elastomer; electroactive polymer;