This work was supported by the EC within the framework of the STIFF-FLOP FP7-ICT-2011.2.1 European Project (#287728).

ملاحظة: يصف هذا البروتوكول مراحل تصنيع وحدة واحدة، والتي تشمل غرف الموائعية وتشنج القناة، وخطوط الأنابيب يشتغل وغمد الخارجي. لديه الإجراء التالي ليتم تنفيذها تحت غطاء الدخان ويرتدي معطف المختبر وقفازات لأسباب تتعلق بالسلامة. كما ذكر سابقا، ويستند عملية تصنيع الوحدة المرنة على استخدام متسلسلة من قوالب مصممة مع برنامج CAD. وهي تتألف من 13 قطعة هو مبين في الشكل (2) والمدرجة في الجدول 1. 1. إعداد سيليكون <ol style=";text-align:right;direction:rtl"><li style=";text-align:right;direction:rtl"> تزن 12 غرام من الجزء ألف و 12 غرام من الجزء B في نفس الزجاج البلاستيك أو طبق بتري ومزجها معا، واثارة. ملاحظة: يمكن أن نسب المواد تختلف تبعا لسيليكون المحددة المستخدمة، في هذه الحالة يتكون من جزأين: الجزء ألف (القاعدة) والجزء باء (المحفز). وهي تستخدم في نسبة 1A: 1B في الوزن. </li><li style=";text-align:right;direction:rtl"> وضع الزجاج التي تحتوي على مزيجمواد السيليكون إد في جهاز الغاز الراحل في 1 بار ضغط الفراغ. الحفاظ على الزجاج تحت فراغ حتى تتم إزالة كافة الفقاعات من مادة السيليكون. للسيليكون المستخدمة في عملية التفريغ يستغرق حوالي 10 دقيقة. مرة واحدة على مواد خالية تماما من وجود فقاعات، استعادة الضغط الجوي في الجهاز واستخدام السيليكون. </li></ol> 2. تصنيع وحدة Siliconic <ol style=";text-align:right;direction:rtl"><li style=";text-align:right;direction:rtl"> جمعية القالب. <ol style=";text-align:right;direction:rtl"><li style=";text-align:right;direction:rtl"> إدراج تشنج اسطوانة والجزء العلوي من الدوائر إلى cap_A (الشكل 3A). </li><li style=";text-align:right;direction:rtl"> إغلاق قذائف حول الطبقة الثانية من cap_A. </li></ol></li><li style=";text-align:right;direction:rtl"> أول صب سيليكون. <ol style=";text-align:right;direction:rtl"><li style=";text-align:right;direction:rtl"> صب سيليكون داخل تجميعها العفن تصل إلى حافة قذائف (الشكل 3B). </li><li style=";text-align:right;direction:rtl"> وضع القالب في الفرن على 60 درجة مئوية لمدة 30 دقيقة. </li></ol></li><li style=";text-align:right;direction:rtl"> إعادة ترتيب القالب. <ol style=";text-align:right;direction:rtl"><li style=";text-align:right;direction:rtl"> إزالة قذائف الخارجية وcap_A (الشكل 3ج). </li><li style=";text-align:right;direction:rtl"> إدراج اسطوانات من قواعد الدوائر واسطوانة تشنج داخل cap_B (الشكل 3D). </li><li style=";text-align:right;direction:rtl"> إغلاق قذائف مرة أخرى حول وحدة، وينحدر منها من 10 مم إلى الأعلى من أجل أن يكون هناك فجوة من 10 ملم بين السطح العلوي من وحدة وحواف قذائف (الشكل 3E). </li></ol></li><li style=";text-align:right;direction:rtl"> صب سيليكون الثاني. <ol style=";text-align:right;direction:rtl"><li style=";text-align:right;direction:rtl"> صب سيليكون داخل ترتيبها العفن تصل إلى حافة قذائف على الجانب العلوي (أي أيضا ما يصل الى الاسطوانة تشنج) (الشكل 3F). </li><li style=";text-align:right;direction:rtl"> وضع القالب في الفرن على 60 درجة مئوية لمدة 30 دقيقة. </li><li style=";text-align:right;direction:rtl"> إزالة قذائف الخارجية، cap_B والدوائر (باستثناء اسطوانة تشنج) (الشكل 3G). </li></ol></li></ol> 3. الإدراج للأنابيب <ol style=";text-align:right;direction:rtl"><li style=";text-align:right;direction:rtl"> قطع 3 أنابيب إلى نفس الطول المطلوب (300 ملم على سبيل المثال). </li><li style=";text-align:right;direction:rtl"> وضع الغراء siliconic حول واحدة من نهاية كل أنبوب لمدة 10 ملم، دون اوبstructing الأنابيب. </li><li style=";text-align:right;direction:rtl"> إدراج أنابيب داخل 2 مم مخصص قنوات في وحدة siliconic (الشكل 3H). </li><li style=";text-align:right;direction:rtl"> تسمح فترة علاج من 12 دقيقة في درجة حرارة الغرفة أو وضع وحدة داخل الفرن على درجة حرارة أعلى (50 ° - 60 °) لتسريع عملية التجفيف. </li></ol> 4. تصنيع لمعقوص مزين غمد <ol style=";text-align:right;direction:rtl"><li style=";text-align:right;direction:rtl"> قطع 700 ملم من غمد مضفر توسيع (حوالي 15 أضعاف ارتفاع وحدة). </li><li style=";text-align:right;direction:rtl"> إدراج اسطوانة معدنية 30 مم وقطرها 250 ملم في الطول داخل غمد. </li><li style=";text-align:right;direction:rtl"> دفع إلى أسفل وإجبار غمد من الانزلاق على اسطوانة، من أجل خلق يعقص. </li><li style=";text-align:right;direction:rtl"> إصلاح ميكانيكيا غمد في مكان مع المشبك والحرارة مع بندقية التدفئة في 350 درجة مئوية لمدة 2-3 دقائق حتى يتم الحصول على تشوه دائم. </li><li style=";text-align:right;direction:rtl"> السماح للغمد يبرد وإزالة الاسطوانة الداخلية. </li></ol> 5. دمج غمد الخارجي <ol style=";text-align:right;direction:rtl"><li style=";text-align:right;direction:rtl"> مرر الالأنابيب من خلال ثقوب cap_C. </li><li style=";text-align:right;direction:rtl"> صب 3 غرام من السيليكون في cap_C. </li><li style=";text-align:right;direction:rtl"> المشبك cap_C إلى الدعم الذي هو أعلى من مستوى العمل. </li><li style=";text-align:right;direction:rtl"> إدراج الجانب السفلي من وحدة ملفقة مسبقا في cap_C. </li><li style=";text-align:right;direction:rtl"> حرك غمد مجعد حول وحدة. </li><li style=";text-align:right;direction:rtl"> دفع يعقص الأولى من غمد داخل cap_C وتغمس في سيليكون صب طازجة (الشكل 3I). </li><li style=";text-align:right;direction:rtl"> وضع القالب في الفرن على 60 درجة مئوية لمدة 20 دقيقة. </li><li style=";text-align:right;direction:rtl"> كرر نفس الإجراء من وجهة 5،1-5،6 لإصلاح غمد في الجانب العلوي، وذلك باستخدام cap_D (الشكل 3J). </li><li style=";text-align:right;direction:rtl"> إزالة cap_C وcap_D. </li><li style=";text-align:right;direction:rtl"> إزالة الاسطوانة المركزية (الشكل 3K). </li></ol> 6. تصنيع ومحبب التشويش غشاء <ol style=";text-align:right;direction:rtl"><li style=";text-align:right;direction:rtl"> صب 5 غرام من مادة اللاتكس السائل في كوب من البلاستيك. </li><li style=";text-align:right;direction:rtl"> تزج اسطوانة لغشاء (آخر قطعة هو مبين في الشكل 2) داخل المطاط السائل حتى السطحوتغطي تماما. </li><li style=";text-align:right;direction:rtl"> اتركها لتجف تحت غطاء محرك السيارة لمدة 20 دقيقة. </li><li style=";text-align:right;direction:rtl"> كرر نقاط 6.2 و 6.3. </li><li style=";text-align:right;direction:rtl"> إزالة غشاء من القالب. </li></ol> 7. الإدراج من حبيبي التشويش غشاء <ol style=";text-align:right;direction:rtl"><li style=";text-align:right;direction:rtl"> قطع أنبوب (2 ملم في القطر) إلى الطول المطلوب (300 ملم على سبيل المثال). </li><li style=";text-align:right;direction:rtl"> قطع قطعة التربيعية من حوالي 100 مم 2 من نسيج النايلون وإغلاق واحدة من نهاية الأنبوب مع هذا النسيج باستخدام فيلم البارافين البلاستيك أو superglue. </li><li style=";text-align:right;direction:rtl"> تزن 4 غرام من مسحوق القهوة وملء الغشاء. </li><li style=";text-align:right;direction:rtl"> إدراج أنبوب (النهاية مع فلتر) داخل الغشاء شغل واصلاحها حول الأنبوب باستخدام فيلم البارافين البلاستيك. </li><li style=";text-align:right;direction:rtl"> تطبيق فراغ على الجانب الآخر من الأنبوب (يصبح أكثر صلابة غشاء). </li><li style=";text-align:right;direction:rtl"> إدراج الغشاء داخل القناة المركزية فارغة من حدة siliconic (الشكل 3L). </li><li style=";text-align:right;direction:rtl"> الغراء طرفي غشاء تشنج إلى وحدة السيليكون. </li><li style=";text-align:right;direction:rtl"> إغلاق حلقات حول الجزء العلويجانب من وحدة (الشكل 3M). </li><li style=";text-align:right;direction:rtl"> صب 2 غرام من السيليكون في الحلقات لمستوى السطح. </li><li style=";text-align:right;direction:rtl"> السماح للسيليكون الجافة تحت غطاء محرك السيارة أو في الفرن على 60 درجة. </li><li style=";text-align:right;direction:rtl"> إزالة الحلقات. </li><li style=";text-align:right;direction:rtl"> كرر من نقطة 7،8-7،11 عن الجانب السفلي (الشكل 3N). </li></ol>

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The authors have nothing to disclose.

The technique described in this protocol enables the fabrication of a pneumatically actuated soft unit usable for modular compliant structures. Thanks to the design of the molds and their simple assembly, it is possible to fabricate one complete module in about 4 hours with 7 main steps. The process of fabrication involves specific materials, which are easily available, and work should be carried out under a fume hood. An external set up including air valves, air compressor and vacuum pump is necessary to activate the mo...

الاتجاهات الحديثة في المجال الطبي تدفع للانخفاض في الغزو من العمليات الجراحية. الحد الأدنى من جراحة الغازية (MIS) قد تحسنت بنجاح في السنوات القليلة الماضية لعمليات البطن. تستند الإجراءات MIS على استخدام الأدوات قدم من خلال أربع أو خمس نقاط الوصول (trocars) وضعت على جدار البطن. من أجل تقليل عدد trocars، والأدوات يمكن إدراجها من قبل واحدة ميناء تنظير البطن (SPL) أو الجراحة الفوهة الطبيعية Translumenal بالمنظار (NOTES) 1. هذه الإجراءات تمنع ندوب مرئية الخارجية، ولكن تزيد من صعوبة للأطباء في تنفيذ عملية جراحية. هذا القيد ويرجع ذلك أساسا إلى انخفاض نقاط الوصول وطبيعة جامدة وشبه جامدة من الأجهزة التي ليست قادرة على تجنب أو تمرير حول أجهزة 2، 3. المهارة والحركة يمكن تحسينها باستخدام مفصلية وفرط زائدة الروبوتات التي يمكن أن تغطي مساحة عمل أوسع وأكثر تعقيدا، اللنا تمكين هدف محدد في الجسم ليتم التوصل بسهولة أكبر 4 و 5 و 6 و للعمل في أنظمة تراجع عند الضرورة 7. A مناور مرن يمكن تحسين الامتثال الأنسجة، مما يجعل الاتصال أكثر أمانا من خلال الأدوات التقليدية. ومع ذلك، هذه المتلاعبين غالبا ما تفتقر الاستقرار عند الوصول إلى الهدف، وعموما لا يمكن التحكم في اتصال مع الأنسجة المحيطة بها 8، 9 دراسات على البنى البيولوجية، مثل ذراع الأخطبوط (10) وجذع الفيل 11، ألهمت مؤخرا تصميم المتلاعبين مرن، تشوه والمتوافقة مع عدد زائدة من درجات الحرية (DoFs) وتصلب السيطرة عليها (12). هذه الأنواع من الأجهزة تستخدم الينابيع السلبي، المواد الذكية، عناصر الهوائية، أو الأوتار 13، 14، 15. وبشكل عام، المتلاعبين ملفقة مع مواد لينة ومرنة لا تضمن توليد القوى عالية. تانه قساة FLOP (صلابة مرنة وقابلة للتعلم مناور السيطرة على العمليات الجراحية) مناور تم عرضها مؤخرا كجهاز الجراحية رواية لNOTES وSPL مستوحاة من قدرات الأخطبوط و. من أجل التغلب على القيود المفروضة على المتلاعبين لينة السابق، أن لديها هيئة لينة وكذلك مهارة عالية، وقوة عالية وصلابة السيطرة عليها (16). ويستند بنية تتلاعب على نهج وحدات: وحدة متعددة، مع نفس الهيكل وظائف، هي متكاملة معا. وأظهرت وحدة واحدة في الشكل 1. وهو يقوم على الاسطوانة المرنة التي حصل عليها افتراء متعدد المراحل. الخطوات تجميع مكونات العفن وعمليات الصب تمكن ثلاث غرف فارغة (ليشتغل فلويديك) وقناة واحدة المركزية جوفاء 17 (للسكن آلية القائم على التشويش الحبيبية 18) لتكون جزءا لا يتجزأ. توضع الدوائر في 120 درجة، بحيثالتضخم الجمع بين الأشعة تحت الحمراء تنتج حركة شاملة لكل الاتجاهات واستطالة. وبالإضافة إلى ذلك يتم وضع غمد مضفر خارجي خارجيا للحد من توسع شعاعي الخارجي لغرف الموائعية عند الضغط، وبالتالي تحقيق الاستفادة المثلى من تأثير يشتغل غرفة في حركة وحدة (الانحناء واستطالة). القناة المركزية منازل جهاز اسطواني تتألف من الغشاء الخارجي مليئة المواد الحبيبية. عند تطبيق ضغط الفراغ، فإنه يغير خصائصه المرنة تسبب تشنج الذي يؤثر على خصائص وحدة بأكملها. يتم التحكم في الحركة وتصلب العروض من قبل الإعداد الخارجي بما في ذلك ضاغط الهواء وثلاثة صمامات الضغط عن المشغلات مجلسين واحد مضخة فراغ لتفعيل فراغ في القناة تشنج. واجهة مستخدم بديهية تتيح السيطرة على يشتغل والفراغ الضغوط داخل وحدة. تفاصيل هذه الورقة fabricatioعملية ن من وحدة واحدة من هذا مناور والتقارير أهم النتائج على قدرات الحركة الأساسية. وبالنظر إلى الطبيعة وحدات من هذا الجهاز، يمكن تقييم تصنيع وأداء وحدة واحدة واحدة فقط أيضا النتائج إلى أن تمتد وللتنبؤ بسلوك الأساسي للمناور متعددة وحدة دمج اثنين أو أكثر من الوحدات.

<table border="0">
	<tbody>
		<tr>
			<td>Ecoflex 00-50 Trial Kit</td>
			<td>SmoothOn</td>
			<td></td>
			<td>Used for the fabrication of the soft unit, combining equal amounts of liquid parts A (the base) and B (the catalyst)</td>
		</tr>
		<tr>
			<td>Latex</td>
			<td>Antichit&#224; Belsito</td>
			<td></td>
			<td>Used for the fabrication of the granular jamming membrane</td>
		</tr>
		<tr>
			<td>Peroxide-Cured Silicone Tubing</td>
			<td>Cole Parmer</td>
			<td>T-06411-59</td>
			<td>Used for actuating the chambers and applying vacuum</td>
		</tr>
		<tr>
			<td>PET expandable braided sleeving</td>
			<td>RS</td>
			<td>408-249</td>
			<td>Used for the fabrication of the external braided sheath</td>
		</tr>
		<tr>
			<td>Silicone Rubber</td>
			<td>Momentive</td>
			<td>127374</td>
			<td>Used to fix the actuation tubes to the module</td>
		</tr>
		<tr>
			<td>Parafilm</td>
			<td>Cole Parmer</td>
			<td>EW-06720-40</td>
			<td>Used to fix the latex membrane to the vacuum tube</td>
		</tr>
		<tr>
			<td>Fume hood Secuflow</td>
			<td>Groupe Waldner</td>
			<td></td>
			<td>Working space</td>
		</tr>
		<tr>
			<td>Precision scale</td>
			<td>KERN EW</td>
			<td></td>
			<td>Used to weight silicone, latex and coffee powder</td>
		</tr>
		<tr>
			<td>Oven/degasser</td>
			<td>Heraeus</td>
			<td></td>
			<td>Used to degass the silicone and reduce its cure time</td>
		</tr>
		<tr>
			<td>Vacuum pump</td>
			<td>DVP Vacuum Technology</td>
			<td></td>
			<td>Used to apply vacuum to the latex membrane</td>
		</tr>
	</tbody>
</table>

design and fabrication of an elastomeric unit for soft modular robots in minimally invasive surgery

في السنوات الأخيرة، أثارت تقنيات الروبوتات الناعمة اهتماما متزايدا في المجال الطبي نتيجة لتفاعلها آمنة جوهريا في بيئات غير منظم. وفي الوقت نفسه، تم وضع إجراءات وتقنيات جديدة للحد من الغزو من العمليات الجراحية. الحد الأدنى من جراحة الغازية (MIS) وقد استخدمت بنجاح لتدخلات البطن، وتستند إجراءات MIS لكن القياسية أساسا على أدوات جامدة أو شبه جامدة التي تحد من البراعة من الطبيب. تقدم هذه الورقة مناور حاذق لينة وعالية لMIS. واستلهم مناور من قدرات البيولوجية للذراع الأخطبوط، وصمم مع نهج وحدات. تقدم كل وحدة نفس الخصائص الوظيفية، وبالتالي تحقيق البراعة العالية وبراعة عندما يتم دمج المزيد من الوحدات. تفاصيل ورقة تصميم وعملية التصنيع والمواد اللازمة لتطوير وحدة واحدة، وهي ملفقة من قبل castinز سيليكون داخل قوالب محددة. النتيجة تتكون في الاسطوانة المرنة بينهم ثلاثة المحركات الهوائية المرنة التي تمكن الاستطالة والانحناء متعددة الاتجاهات للوحدة. غلاف مضفر الخارجي على تحسين حركة وحدة. في وسط كل وحدة تختلف آلية القائم على التشويش الحبيبية صلابة الهيكل خلال المهام. تبين التجارب أن الوحدة هي قادرة على ثني تصل إلى 120 درجة واستطال تصل إلى 66٪ من طول الأولي. وحدة يولد قوة أقصاها 47 N، وتصلب لها يمكن أن تزيد إلى 36٪.

المراحل المختلفة للتصنيع، وصفت في البروتوكول، ويوضح في الشكل (3). من أجل تقييم فعالية هذه التقنية ونتائج النموذج النهائي، تم اختبار وحدة في مختلف ظروف العمل. الإعداد الخارجي يسمح السيطرة على كل من يشتغل وصلابة وحدة. وهو ي...

Watch this Scientific Journal Video about Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery at JoVE.com

Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery

This paper describes the design and fabrication of a soft unit for surgical manipulators. The base module includes three flexible fluidic actuators to achieve omnidirectional bending and elongation, and a granular jamming-based mechanism to enable stiffness control. A complete mechanical characterization is also reported.

تصميم وتصنيع وحدة المرنة لينة وحدات الروبوتات في جراحة المناظير

In recent years, soft robotics technologies have aroused increasing interest in the medical field due to their intrinsically safe interaction in ...

design-fabrication-an-elastomeric-unit-for-soft-modular-robots

Research

JoVE Journal

Bioengineering

8.9K Views.  Scuola Superiore Sant'Anna. This paper describes the design and fabrication of a soft unit for surgical manipulators. The base module includes three flexible fluidic actuators to achieve omnidirectional bending and elongation, and a granular jamming-based mechanism to enable stiffness control. A complete mechanical characterization is also reported. 

Video: Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery

Elastomeric PGS Scaffolds in Arterial Tissue Engineering

Cardiovascular disease is one of the leading cause of mortality in the US and especially, coronary artery disease increases with an aging population and increasing obesity1. Currently, bypass surgery using autologous vessels, allografts, and synthetic grafts are known as a commonly used for arterial substitutes2. However, these grafts have limited applications when an inner diameter of arteries is less than 6 mm due to low availability, thrombotic complications, compliance mismatch, and late intimal hyperplasia3,4. To overcome these limitations, tissue engineering has been successfully applied as a promising alternative to develop small-diameter arterial constructs that are nonthrombogenic, robust, and compliant. Several previous studies have developed small-diameter arterial constructs with tri-lamellar structure, excellent mechanical properties and burst pressure comparable to native arteries5,6. While high tensile strength and burst pressure by increasing collagen production from a rigid material or cell sheet scaffold, these constructs still had low elastin production and compliance, which is a major problem to cause graft failure after implantation. Considering these issues, we hypothesized that an elastometric biomaterial combined with mechanical conditioning would provide elasticity and conduct mechanical signals more efficiently to vascular cells, which increase extracellular matrix production and support cellular orientation.
The objective of this report is to introduce a fabrication technique of porous tubular scaffolds and a dynamic mechanical conditioning for applying them to arterial tissue engineering. We used a biodegradable elastomer, poly (glycerol sebacate) (PGS)7 for fabricating porous tubular scaffolds from the salt fusion method. Adult primary baboon smooth muscle cells (SMCs) were seeded on the lumen of scaffolds, which cultured in our designed pulsatile flow bioreactor for 3 weeks. PGS scaffolds had consistent thickness and randomly distributed macro- and micro-pores. Mechanical conditioning from pulsatile flow bioreactor supported SMC orientation and enhanced ECM production in scaffolds. These results suggest that elastomeric scaffolds and mechanical conditioning of bioreactor culture may be a promising method for arterial tissue engineering.

Elastomeric PGS scaffolds with vascular smooth muscle cells cultured in a pulsatile flow bioreactor may lead to promising small-diameter arterial constructs with native ECM production in a relatively short culture period.

PGS السقالات المرنة في هندسة الأنسجة الشرياني

Cardiovascular disease is one of the leading cause of mortality in the US and especially, coronary artery disease increases with an aging population and ...

Polymeric Microneedle Array Fabrication by Photolithography

This manuscript describes the fabrication of polymeric microneedle (MN) arrays by photolithography. It involves a simple mold-free process by using a photomask consisting of embedded micro-lenses. Embedded micro-lenses were found to influence MN geometry (sharpness). Robust MN arrays with tip diameters ranging between 41.5 &#181;m &#177; 8.4 &#181;m and 71.6 &#181;m &#177; 13.7 &#181;m, with two different lengths (1,336 &#181;m &#177; 193 &#181;m and 957 &#181;m &#177; 171 &#181;m) were fabricated. These MN arrays may provide potential applications in delivery of low molecular and macromolecular therapeutic agents through skin.

Here, we present a protocol describing a mold-free fabrication process of the polymeric microneedles by photolithography.

البوليمر تصنيع صفيف إبرة مجهرية من قبل الطباعة التصويرية

This manuscript describes the fabrication of polymeric microneedle (MN) arrays by photolithography. It involves a simple mold-free process by using a ...

Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation

Soft compliant gripping is essential in delicate surgical manipulation for minimizing the risk of tissue grip damage caused by high stress concentrations at the point of contact. It can be achieved by complementing traditional rigid grippers with soft robotic pneumatic gripper devices. This manuscript describes a rod-based approach that combined both 3D-printing and a modified soft lithography technique to fabricate the soft pneumatic gripper. In brief, the pneumatic featureless mold with chamber component is 3D-printed and the rods were used to create the pneumatic channels that connect to the chamber. This protocol eliminates the risk of channels occluding during the sealing process and the need for external air source or related control circuit. The soft gripper consists of a chamber filled with air, and one or more gripper arms with a pneumatic channel in each arm connected to the chamber. The pneumatic channel is positioned close to the outer wall to create different stiffness in the gripper arm. Upon compression of the chamber which generates pressure on the pneumatic channel, the gripper arm will bend inward to form a close grip posture because the outer wall area is more compliant. The soft gripper can be inserted into a 3D-printed handling tool with two different control modes for chamber compression: manual gripper mode with a movable piston, and robotic gripper mode with a linear actuator. The double-arm gripper with two actuatable arms was able to pick up objects of sizes up to 2 mm and yet generate lower compressive forces as compared to elastomer-coated and non-coated rigid grippers. The feasibility of having other designs, such as single-arm or hook gripper, was also demonstrated, which further highlighted the customizability of the soft gripper device, and it's potential to be used in delicate surgical manipulation to reduce the risk of tissue grip damage.

This protocol describes a rod-based approach, combining 3D-printing and soft lithography techniques for fabricating the soft gripper devices. This approach eliminates the need for an external air source by incorporating a chamber component and reduces the chance of occlusion during the sealing process, particularly for miniaturized pneumatic channels.

تصنيع مقرها قضيب من تخصيص لينة الروبوتية هوائي أجهزة القابض للتلاعب الأنسجة الحساسة

Soft compliant gripping is essential in delicate surgical manipulation for minimizing the risk of tissue grip damage caused by high stress concentrations ...

Automated Robotic Liquid Handling Assembly of Modular DNA Devices

Recent advances in modular DNA assembly techniques have enabled synthetic biologists to test significantly more of the available &#34;design space&#34; represented by &#34;devices&#34; created as combinations of individual genetic components. However, manual assembly of such large numbers of devices is time-intensive, error-prone, and costly. The increasing sophistication and scale of synthetic biology research necessitates an efficient, reproducible way to accommodate large-scale, complex, and high throughput device construction.
Here, a DNA assembly protocol using the Type-IIS restriction endonuclease based Modular Cloning (MoClo) technique is automated on two liquid-handling robotic platforms. Automated liquid-handling robots require careful, often times tedious optimization of pipetting parameters for liquids of different viscosities (e.g. enzymes, DNA, water, buffers), as well as explicit programming to ensure correct aspiration and dispensing of DNA parts and reagents. This makes manual script writing for complex assemblies just as problematic as manual DNA assembly, and necessitates a software tool that can automate script generation. To this end, we have developed a web-based software tool, http://mocloassembly.com, for generating combinatorial DNA device libraries from basic DNA parts uploaded as Genbank files. We provide access to the tool, and an export file from our liquid handler software which includes optimized liquid classes, labware parameters, and deck layout. All DNA parts used are available through Addgene, and their digital maps can be accessed via the Boston University BDC ICE Registry. Together, these elements provide a foundation for other organizations to automate modular cloning experiments and similar protocols.
The automated DNA assembly workflow presented here enables the repeatable, automated, high-throughput production of DNA devices, and reduces the risk of human error arising from repetitive manual pipetting. Sequencing data show the automated DNA assembly reactions generated from this workflow are ~95% correct and require as little as 4% as much hands-on time, compared to manual reaction preparation.

Here, an automated workflow to perform modular DNA &#34;device&#34; assembly using a modular cloning DNA assembly method on liquid-handling robots is presented. The protocol uses an intuitive software tool for generating liquid handler picklists for combinatorial DNA device library generation, which we demonstrate using two liquid handling platforms.

الآلي الجمعية معالجة السائل الروبوتية أجهزة وحدات الحمض النووي

Recent advances in modular DNA assembly techniques have enabled synthetic biologists to test significantly more of the available &#34;design space&#34; ...

Biomechanical Characterization of Human Soft Tissues Using Indentation and Tensile Testing

Regenerative medicine aims to engineer materials to replace or restore damaged or diseased organs. The mechanical properties of such materials should mimic the human tissues they are aiming to replace; to provide the required anatomical shape, the materials must be able to sustain the mechanical forces they will experience when implanted at the defect site. Although the mechanical properties of tissue-engineered scaffolds are of great importance, many human tissues that undergo restoration with engineered materials have not been fully biomechanically characterized. Several compressive and tensile protocols are reported for evaluating materials, but with large variability it is difficult to compare results between studies. Further complicating the studies is the often destructive nature of mechanical testing. Whilst an understanding of tissue failure is important, it is also important to have knowledge of the elastic and viscoelastic properties under more physiological loading conditions.
This report aims to provide a minimally destructive protocol to evaluate the compressive and tensile properties of human soft tissues. As examples of this technique, the tensile testing of skin and the compressive testing of cartilage are described. These protocols can also be directly applied to synthetic materials to ensure that the mechanical properties are similar to the native tissue. Protocols to assess the mechanical properties of human native tissue will allow a benchmark by which to create suitable tissue-engineered substitutes.

Tissue biomechanics is important for maintaining cell shape and function and for determining phenotype. This report demonstrates non-destructive mechanical protocols for characterizing elastic and viscoelastic properties of human soft tissues, which can be directly applied to tissue-engineered substrates to allow a close matching of engineered materials to native tissue.

توصيف النشاط الحيوي للأنسجة لينة الإنسان عن طريق المسافة البادئة واختبار الشد

Regenerative medicine aims to engineer materials to replace or restore damaged or diseased organs. The mechanical properties of such materials should ...

A Novel Surgical Technique As a Foundation for In Vivo Partial Liver Engineering in Rat

Organ engineering is a novel strategy to generate liver organ substitutes that can potentially be used in transplantation. Recently, in vivo liver engineering, including in vivo organ decellularization followed by repopulation, has emerged as a promising approach over ex vivo liver engineering. However, postoperative survival was not achieved. The aim of this study is to develop a novel surgical technique of in vivo selective liver lobe perfusion in rats as a prerequisite for in vivo liver engineering. We generate a circuit bypass only through the left lateral lobe. Then, the left lateral lobe is perfused with heparinized saline. The experiment is performed with 4 groups (n = 3 rats per group) based on different perfusion times of 20 min, 2 h, 3 h, and 4 h. Survival, as well as the macroscopically visible change of color and the histologically determined absence of blood cells in the portal triad and the sinusoids, is taken as an indicator for a successful model establishment. After selective perfusion of the left lateral lobe, we observe that the left lateral lobe, indeed, turned from red to faint yellow. In a histological assessment, no blood cells are visible in the branch of the portal vein, the central vein, and the sinusoids. The left lateral lobe turns red after reopening the blocked vessels. 12/12 rats survived the procedure for more than one week. We are the first to report a surgical model for in vivo single liver lobe perfusion with a long survival period of more than one week. In contrast to the previously published report, the most important advantage of the technique presented here is that perfusion of 70% of the liver is maintained throughout the whole procedure. The establishment of this technique provides a foundation for in vivo partial liver engineering in rats, including decellularization and recellularization.

A Novel Surgical Technique As a Foundation for In Vivo Partial Liver Engineering in Rat

We establish a novel surgical technique for an in vivo single liver lobe perfusion model in rat as a prerequisite for further studying in vivo partial liver engineering in the future.

رواية تقنية جراحية كأساس في فيفو جزئي الهندسة الكبد في الفئران

Organ engineering is a novel strategy to generate liver organ substitutes that can potentially be used in transplantation. Recently, in vivo liver ...

Bioinspired Soft Robot with Incorporated Microelectrodes

Bioinspired soft robotic systems that mimic living organisms using engineered muscle tissue and biomaterials are revolutionizing the current biorobotics paradigm, especially in biomedical research. Recreating artificial life-like actuation dynamics is crucial for a soft-robotic system. However, the precise control and tuning of actuation behavior still represents one of the main challenges of modern soft robotic systems. This method describes a low-cost, highly scalable, and easy-to-use procedure to fabricate an electrically controllable soft robot with life-like movements that is activated and controlled by the contraction of cardiac muscle tissue on a micropatterned sting ray-like hydrogel scaffold. The use of soft photolithography methods makes it possible to successfully integrate multiple components in the soft robotic system, including micropatterned hydrogel-based scaffolds with carbon nanotubes (CNTs) embedded gelatin methacryloyl (CNT-GelMA), poly(ethylene glycol) diacrylate (PEGDA), flexible gold (Au) microelectrodes, and cardiac muscle tissue. In particular, the hydrogels alignment and micropattern are designed to mimic the muscle and cartilage structure of the sting ray. The electrically conductive CNT-GelMA hydrogel acts as a cell scaffold that improves the maturation and contraction behavior of cardiomyocytes, while the mechanically robust PEGDA hydrogel provides structural cartilage-like support to the whole soft robot. To overcome the hard and brittle nature of metal-based microelectrodes, we designed a serpentine pattern that has high flexibility and can avoid hampering the beating dynamics of cardiomyocytes. The incorporated flexible Au microelectrodes provide electrical stimulation across the soft robot, making it easier to control the contraction behavior of cardiac tissue.

A bioinspired scaffold is fabricated by a soft photolithography technique using mechanically robust and electrically conductive hydrogels. The micropatterned hydrogels provide directional cardiomyocyte cell alignment, resulting in a tailored direction of actuation. Flexible microelectrodes are also integrated into the scaffold to bring electrical controllability for a self-actuating cardiac tissue.

Bioinspired لينة روبوت مع Microelectrodes المدمجة

Bioinspired soft robotic systems that mimic living organisms using engineered muscle tissue and biomaterials are revolutionizing the current biorobotics ...

Simple, Affordable, and Modular Patterning of Cells using DNA

The relative positioning of cells is a key feature of the microenvironment that organizes cell-cell interactions. To study the interactions between cells of the same or different type, micropatterning techniques have proved useful. DNA Programmed Assembly of Cells (DPAC) is a micropatterning technique that targets the adhesion of cells to a substrate or other cells using DNA hybridization. The most basic operations in DPAC begin with decorating cell membranes with lipid-modified oligonucleotides, then flowing them over a substrate that has been patterned with complementary DNA sequences. Cells adhere selectively to the substrate only where they find a complementary DNA sequence. Non-adherent cells are washed away, revealing a pattern of adherent cells. Additional operations include further rounds of cell-substrate or cell-cell adhesion, as well as transferring the patterns formed by DPAC to an embedding hydrogel for long-term culture. Previously, methods for patterning oligonucleotides on surfaces and decorating cells with DNA sequences required specialized equipment and custom DNA synthesis, respectively. We report an updated version of the protocol, utilizing an inexpensive benchtop photolithography setup and commercially available cholesterol modified oligonucleotides (CMOs) deployed using a modular format. CMO-labeled cells adhere with high efficiency to DNA-patterned substrates. This approach can be used to pattern multiple cell types at once with high precision and to create arrays of microtissues embedded within an extracellular matrix. Advantages of this method include its high resolution, ability to embed cells into a three-dimensional microenvironment without disrupting the micropattern, and flexibility in patterning any cell type.

Here we present a protocol to micropattern cells at single-cell resolution using DNA-programmed adhesion. This protocol uses a benchtop photolithography platform to create patterns of DNA oligonucleotides on a glass slide and then labels cell membranes with commercially available complementary oligonucleotides. Hybridization of the oligos results in programmed cell adhesion.

بسيطة، بأسعار معقولة، ونمط وحدات من الخلايا باستخدام الحمض النووي

The relative positioning of cells is a key feature of the microenvironment that organizes cell-cell interactions. To study the interactions between cells ...

Voxel Printing Anatomy: Design and Fabrication of Realistic, Presurgical Planning Models through Bitmap Printing

Most applications of 3-dimensional (3D) printing for presurgical planning have been limited to bony structures and simple morphological descriptions of complex organs due to the fundamental limitations in accuracy, quality, and efficiency of the current modeling paradigm. This has largely ignored the soft tissue critical to most surgical specialties where the interior of an object matters and anatomical boundaries transition gradually. Therefore, the needs of the biomedical industry to replicate human tissue, which displays multiple scales of organization and varying material distributions, necessitate new forms of representation. 
Presented here is a novel technique to create 3D models directly from medical images, which are superior in spatial and contrast resolution to current 3D modeling methods and contain previously unachievable spatial fidelity and soft tissue differentiation. Also presented are empirical measurements of novel, additively manufactured composites that span the gamut of material stiffnesses seen in soft biological tissues from MRI and CT. These unique volumetric design and printing methods allow for deterministic and continuous adjustment of material stiffness and color. This capability enables an entirely new application of additive manufacturing to presurgical planning: mechanical realism. As a natural complement to existing models that provide appearance matching, these new models also allow medical professionals to "feel" the spatially varying material properties of a tissue simulant-a critical addition to a field in which tactile sensation plays a key role.

This method demonstrates a voxel-based 3D printing workflow, which prints directly from medical images with exact spatial fidelity and spatial/contrast resolution. This enables the precise, graduated control of material distributions through morphologically complex, graduated materials correlated to radiodensity without loss or alteration of data.

تشريح طباعة Voxel: تصميم وتصنيع نماذج التخطيط الواقعية قبل الجراحة من خلال الطباعة النقطية

Most applications of 3-dimensional (3D) printing for presurgical planning have been limited to bony structures and simple morphological descriptions of ...

Synthesis of Strong Adhesive Hydrogel, Gelatin O-Nitrosobenzaldehyde

Adhesive materials have become popular biomaterials in the field of biomedical and tissue engineering. In our previous work, we presented a new material - gelatin o-nitrosobenzaldehyde (gelatin-NB) - which is mainly used for tissue regeneration and has been validated in animal models of corneal injury and inflammatory bowel disease. This is a novel hydrogel formed by modifying biological gelatin with o-nitrosobenzaldehyde (NB). Gelatin-NB was synthesized by activating the carboxyl group of NB-COOH and reacting with gelatin through 1-(3-dimethylaminopropyl)-3-ethylcarbodiimide hydrochloride (EDC) and N-hydroxysuccinimide (NHS). The obtained compound was purified to generate the final product, which can be stably stored for at least 18 months. NB has a strong adhesion to -NH2 on the tissue, which can form many C = N bonds, thus increasing the adhesion of gelatin-NB to the tissue interface. The preparation process comprises steps for the synthesis of the NB-COOH group, modification of the group, synthesis of gelatin-NB, and purification of the compound. The goal is to describe the specific synthesis process of gelatin-NB in detail and to demonstrate the application of gelatin-NB to damage repair. Moreover, the protocol is presented to further strengthen and expand the nature of the material produced by the scientific community for more applicable scenarios.

The protocol presented here shows the synthesis of a strong adhesive hydrogel gelatin o-nitrosobenzaldehyde (gelatin-NB). Gelatin-NB has rapid and efficient tissue adhesion ability, which can form a strong physical barrier to protect wound surfaces, so it is expected to be applied to the field of injury repair biotechnology.

تخليق هيدروجيل لاصق قوي ، جيلاتين O-نيتروسوبنزالديهيد

Adhesive materials have become popular biomaterials in the field of biomedical and tissue engineering. In our previous work, we presented a new material - ...