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The process of foaming poly(caprolactone)-based composites using supercritical carbon dioxide was analyzed. The impact of the conditions of the solid-foam production process on the process efficiency and properties of porous structures was investigated. The novel application of various types of porogens—hydroxyapatite, nanocellulose, carboxymethylcellulose, and graphene oxide—was tested in order to modify the properties and improve the quality of solid foams, increasing their usefulness in specialized practical applications. The study showed a significant influence of the foaming process conditions on the properties of solid foams. The optimal process parameters were determined to be pressure 18 MPa, temperature 70 °C, and time 1 h in order to obtain structures with appropriate properties for applications in biomedical engineering, and the most promising material for their production was selected: a composite containing 5% hydroxyapatite or 0.2% graphene oxide.