A bioprinter and methods of using the bioprinter. The bioprinter permits selective three-dimensional movement of multiple nozzle assemblies during operation of the bioprinter. The bioprinter can be used to produce scaffold-free tissue constructs having a plurality of cellular elements interspersed among a semi-permeable vascular network. The bioprinter can also be used to print a tissue construct directly onto a tissue defect of a subject. The bioprinter can be provided as part of a bioprinting system that includes a scanner for imaging the tissue defect.
