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

참고 :이 프로토콜은 채널, 작동 파이프 라인 및 외부 덮개를 보강, 유체 챔버를 포함하는 단일 모듈의 제조 단계에 대해 설명합니다. 다음 절차는 흄 후드와 안전을 위해 실험실 코트와 장갑을 착용에서 실행해야합니다. 앞서 언급 한 바와 같이, 탄성 유닛의 제조 공정은 CAD 소프트웨어와 함께 설계된 금형의 연속 사용에 기초한다. 이들은도 2에 도시되고 표 1에 열거 된 13 가지로 구성된다. 실리콘 1. 준비 <ol><li> 부품의 12g와 같은 플라스틱 유리 또는 페트리 접시에 B 부분의 12g의 무게를 교반, 그들을 함께 섞는다. 참고 : 소재 비율은 두 부분으로 구성되어,이 경우, 사용되는 특정 실리콘에 따라 달라질 수 부 (기부)와 파트 B (촉매). 그들은 비율 (1A)에 사용되는 : 1B를 무게. </li><li> 믹스를 함유하는 유리를 배치1 바 진공 압력에서 탈기 시스템의 에드 실리콘 재료. 모든 거품 실리콘 물질로부터 제거 될 때까지 진공 하에서 유리 유지. 사용되는 실리콘의 경우 탈기 과정은 약 10 분 소요됩니다. 물질이 기포의 존재로부터 완전히 자유롭게되면 기계로 대기압을 복원하고 실리콘을 사용한다. </li></ol> 실리콘계 모듈 2. 제작 <ol><li> 몰드 조립체. <ol><li> 보강 실린더와 cap_A (그림 3a)에 챔버의 상부를 삽입합니다. </li><li> cap_A의 두 번째 층의 주위에 포탄을 닫습니다. </li></ol></li><li> 먼저 실리콘 주조. <ol><li> 쉘 (도 3b)의 가장자리에 조립 된 주형 내부까지 실리콘을 붓는다. </li><li> 약 30 분 동안 60 ° C의 오븐에서 금형을 배치. </li></ol></li><li> 몰드 재 배열. <ol><li> 외부 껍질을 제거하고 cap_A (그림 3C). </li><li> 챔버의 기지와 cap_B (그림 3D) 내부 보강 실린더에서 실린더를 삽입합니다. </li><li> 상향 모듈의 상면과 셸 (도 3E)의 에지 사이의 10mm 간격을 갖기 위해 10mm 그들 슬라이딩 모듈 주위에서 다시 껍질을 닫는다. </li></ol></li><li> 둘째 실리콘 주조. <ol><li> 상부 측 (즉,도 보강 실린더까지) (도 3F)의 껍질의 가장자리까지 재 배열 금형 내부의 실리콘을 붓는다. </li><li> 약 30 분 동안 60 ℃에서 오븐에 금형을 넣고. </li><li> 외부 쉘, cap_B과 (보강 실린더 제외) 챔버 (그림 3g)를 제거합니다. </li></ol></li></ol> 튜브 3. 삽입 <ol><li> 같은 원하는 길이 (예 300mm) 3 튜브를 잘라. </li><li> OB 않고, 10mm 각 튜브의 일단 주위에 실리콘계 접착제를 넣어튜브 structing. </li><li> 실리콘계 장치 (그림 3H)에 채널을 전용 2mm 내부에 튜브를 삽입합니다. </li><li> 실온에서 12 분의 경화 시간을 허용하거나 높은 온도에서 오븐 안에 넣어 모듈 - 건조 프로세스 속도 (50 ° ~ 60 °). </li></ol> 곱슬 곱슬하게지지 꼰 시스 4. 제작 <ol><li> 확장 꼰 시스 (모듈의 약 15 배 높이)의 700mm를 잘라. </li><li> 직경 30mm와 외피 속에 길이 250 mm의 금속 실린더를 삽입합니다. </li><li> 푸시 다운 권축를 생성하기 위하여, 실린더 위에 슬라이딩시킴으로써 강제 외피. </li><li> 영구 변형이 얻어 질 때까지 기계적으로 2 ~ 3 분 동안 350 ℃에서 가열 총 클램프 및 열와 장소에 칼집을 수정합니다. </li><li> 외피가 식 내부 실린더를 제거 할 수 있습니다. </li></ol> 외부 칼집 5. 통합 <ol><li> 전달cap_C의 구멍을 통해 튜브. </li><li> cap_C에 실리콘 3g을 따르십시오. </li><li> 작업 기준면보다 높은 지원 cap_C을 클램프. </li><li> 이전 cap_C으로 제작 된 모듈의 바닥면을 넣습니다. </li><li> 모듈 주위에 압착 칼집을 밀어 넣습니다. </li><li> cap_C 내부 시스의 첫 번째 크림프을 누르고 갓 쏟아 냈다 실리콘 (그림 3I)로 찍어. </li><li> 약 20 분 동안 60 ℃에서 오븐에 금형을 넣고. </li><li> cap_D (그림 3J)를 사용하여, 상단 측면의 외피를 해결하기 위해 점 5.1-5.6에서 동일한 절차를 반복합니다. </li><li> cap_C 및 cap_D를 제거합니다. </li><li> 중앙 실린더 (그림 3K)를 제거합니다. </li></ol> 세분화 된 전파 방해 멤브레인 6. 제작 <ol><li> 플라스틱 유리에 액체 라텍스 5g을 따르십시오. </li><li> 표면까지 액체 라텍스 내부 막 (도 2에 도시 된 마지막 부분)에 대한 실린더 담가완전히 덮여있다. </li><li> 20 분 동안 후드가 건조 보자. </li><li> 반복 포인트 6.2과 6.3. </li><li> 금형에서 막을 제거합니다. </li></ol> 세분화 된 전파 방해 막 7. 삽입 <ol><li> 튜브 원하는 길이 (직경 2mm)를 (예를 들어 300mm) 잘랐다. </li><li> 약 100mm 2 나일론 조직의 제곱 조각을 잘라 플라스틱 파라핀 필름 또는 순간 접착제를 사용하여이 조직에 튜브의 한쪽 끝을 닫습니다. </li><li> 커피 분말 4g의 무게를 측정하고, 멤브레인을 채 웁니다. </li><li> 충전 막 내부 튜브 (필터 끝을) 삽입 및 플라스틱 파라핀 필름을 사용하여 튜브 주위를 고정합니다. </li><li> 튜브 (막이 딱딱하게)의 반대편에 진공을 적용한다. </li><li> 실리콘계 모듈 (그림 3리터)의 빈 중앙 채널 내부 멤브레인을 삽입합니다. </li><li> 실리콘 모듈 보강 막의 단부를 붙인다. </li><li> 상단 주위에 반지를 닫습니다모듈 (그림 3m)의 측면. </li><li> 표면의 수평을하기 위해 링에 실리콘 2g을 따르십시오. </li><li> 후드 아래 또는 60 °의 오븐에 실리콘 건조하자. </li><li> 고리를 제거합니다. </li><li> 포인트 바닥면에 대한 7.8-7.11 (그림 3N)에서 반복합니다. </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...

의료 분야의 최근 경향은 외과 수술의 침입의 감소를 추진하고있다. 최소 침습 수술 (MIS)를 성공적으로 복부 작업 지난 몇 년 동안 개선되었다. MIS 절차는 복벽에 배치 네다섯 액세스 포인트 (트로 카를)를 통해 유입 도구의 사용에 기초한다. 트로 카를의 수를 줄이기 위해,기구는 싱글 포트 복강경 (SPL) 또는 자연 오리피스 트랜스 루미 내시경 수술 (참고) (1)에 의해 삽입 될 수있다. 이러한 절차는 외부의 눈에 보이는 흉터를 방지하지만, 수술을 실행에 임상의 어려움을 증가시킨다. 이러한 제한으로 인해 액세스의 감소 포인트와 피하거나 기관이 주변에 통과 할 수없는 악기의 경질 및 반 경질 특성으로 주로 3. 민첩하고 운동을하여 향상시킬 수 관절 및 하이퍼 중복 더 넓고 더 복잡한 작업 공간을 커버 할 수있는 로봇, 일우리는 신체의 특정 목표를보다 쉽게 4, 5, 6에 도달 할 필요 7 후퇴 시스템으로 작동 가능하게된다. 유연한 조작 따라서 기존의 도구로보다 안전 접촉, 조직 적합성을 향상시킬 수 있습니다. 그러나 이러한 매니퓰레이터 수시로 목표 도달 안정성이 부족하고 일반적으로 그들이 주변 조직 (8)과의 접촉을 제어 할 수있다 (9). 연구들은 문어 아암 (10) 및 코끼리 트렁크 (11)와 같은 생물학적 구조에 최근의 디자인 영감 자유 (자유도)의 학위의 중복 번호 및 제어 강성 (12)와, 유연한 변형 및 준수 조종. 장치의 이러한 종류의 13, 14, 15. 일반적으로, 부드럽고 유연한 소재로 제작 된 매니퓰레이터가 높은 힘의 생성을 보장하지 않습니다 수동 스프링, 스마트 재료, 공압 요소, 또는 힘줄을 사용합니다. 티그는 STIFF 플롭 (외과 수술에 대한 강성 제어 유연하고 학습 가능 조작) 조작은 최근 낙지의 기능에서 영감 노트와 SPL위한 새로운 수술 장치로 제시되었다. 이전의 소프트 매니퓰레이터의 한계를 극복하기 위해, 높은 손재주, 높은 강성 력 및 제어 (16)뿐만 아니라 연체있다. 조작의 아키텍처는 모듈 식 접근 방식을 기반으로 : 여러 대, 동일한 구조 및 기능과 함께 통합되어 있습니다. 단일 유닛이도 1에 도시되어있다. 이는 다상 제조하여 얻어지는 엘라스토머 실린더에 기초한다. 몰드 부품 및 주조 공정은 조립 공정 (작동 유체 용) 세 빈 챔버와 하나의 중공 중심 통로 (17) (수용 입상 재밍 기반기구 (18))을 포함 할 수 있습니다. 챔버가되도록 120 °로 배치된다IR 결합 인플레이션은 전 방향 운동과 신장을 생산하고 있습니다. 또한 외부 편조 피복 따라서 (굽힘 및 신장) 모듈 모​​션 챔버 작동의 효과를 최적화 할 때 가압 유체 챔버의 외측 반경 방향 팽창을 제한하기 위해 외부 적으로 배치된다. 중앙 채널은 입상 재료로 채워진 외부 막으로 구성된 원통형 장치를 수납한다. 진공 압력이인가 될 때, 모듈 전체의 특성에 영향을 경직을 초래 그 탄성 특성을 변경한다. 모션 및 강성 공연 공기 압축기와 챔버와 보강 채널에 진공을 활성화하기위한 하나의 진공 펌프를 구동하기위한 세 개의 압력 밸브를 포함하는 외부 설정에 의해 제어된다. 직관적 인 사용자 인터페이스 모듈의 내부 작동 및 진공 압력을 제어 할 수있다. 본 논문은 FABRICATIO의 자세한 사항이 조작 및 보고서 기본적인 운동 기능에 가장 중요한 결과의 하나의 모듈의 N 과정. 디바이스의 모듈 특성을 고려하여, 제조 및 단지 하나의 단일 모듈의 성능 평가는 결과가 확장 될 2 개 이상의 모듈을 통합하는 다중 모듈 매니퓰레이터의 기본적인 동작을 예측할 수있다.

<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

최근, 소프트 로보틱스 기술 인해 구조적 환경에서의 상호 작용에 본질적으로 안전한 의료 분야에 대한 관심이 증가 자극했다. 동시에, 새로운 절차 및 기법은 외과 수술의 침윤을 감소시키기 위해 개발되었다. 최소 침습 수술 (MIS)를 성공적으로 복부 개입 이용되고있다, 그러나 표준 MIS 절차는 주로 임상의 손재주를 제한 강성 또는 반 강성 도구에 기초한다. 이 논문은 MIS에 대한 소프트와 높은 손재주가 조작을 제공합니다. 조작은 문어 암의 생물학적 기능에 의해 영감을했다, 그리고 모듈 식 접근 방식으로 설계되어 있습니다. 각 모듈은 더 모듈이 통합 될 때, 따라서 높은 민첩성과 다양성을 달성, 같은 기능적 특성을 제공한다. 용지 CASTIN 의해 제조되는 단일 유닛의 개발에 필요한 디자인, 제조 공정 및 재료를 자세히특정 금형 내부에 들어 실리콘. 결과는 신장과 유닛의 전 방향 절곡을 가능하게 세가요 공압 액추에이터를 포함하는 탄성 실린더로 구성된다. 외부 편조 피복은 모듈의 동작을 개선한다. 각각의 모듈의 중심에 입상 재밍 기반 메카니즘은 태스크 중 구조의 강성이 변한다. 테스트 모듈이 120 °까지 구부러 초기 길이의 66 %까지 신장 할 수 있다는 것을 입증한다. 모듈 (47)은 N의 최대 힘을​​ 생성하고, 그 강도는 36 %까지 증가 할 수있다.

프로토콜에 기재된 제조의 다양한 단계는도 3에 도시되어있다. 기술의 효율성 및 최종 프로토 타입의 결과를 평가하기 위해, 모듈은 다양한 작업 조건에서 시험 하였다. 외부 설치는 작동 및 모듈의 강성을 모두 제어 할 수 있습니다. 그것은 세 가지 밸브를 활성화 공기 압축기를 포함한다. 그들은 챔버에 집적 실리콘계 튜브에 연결되고 그들의 가압을 허용한다....

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.

디자인과 소프트 모듈 형 로봇의 탄성 장치의 제작 최소 침습 수술

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 조회수.  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. 

비디오: 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.

탄성 PGS는 아티 조직 공학 공사장 공중 발판

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

연구

생체공학

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.

포토 리소그래피에 의해 고분자 미세 바늘 어레이 제작

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.

섬세한 조직 조작을위한 사용자 정의 소프트 로봇 공압 그리퍼 장치의로드 기반의 제조

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.

모듈형 DNA 장치 조립 로봇 액체 처리 자동화

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.

들여 쓰기 및 인장 시험을 사용하여 인간의 부드러운 조직의 생체 역학적 특성

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

An In Vitro Organ Culture Model of the Murine Intervertebral Disc

Intervertebral disc (IVD) degeneration is a significant contributor to low back pain. The IVD is a fibrocartilaginous joint that serves to transmit and dampen loads in the spine. The IVD consists of a proteoglycan-rich nucleus pulposus (NP) and a collagen-rich annulus fibrosis (AF) sandwiched by cartilaginous end-plates. Together with the adjacent vertebrae, the vertebrae-IVD structure forms a functional spine unit (FSU). These microstructures contain unique cell types as well as unique extracellular matrices. Whole organ culture of the FSU preserves the native extracellular matrix, cell differentiation phenotypes, and cellular-matrix interactions. Thus, organ culture techniques are particularly useful for investigating the complex biological mechanisms of the IVD. Here, we describe a high-throughput approach for culturing whole lumbar mouse FSUs that provides an ideal platform for studying disease mechanisms and therapies for the IVD. Furthermore, we describe several applications that utilize this organ culture method to conduct further studies including contrast-enhanced microCT imaging and three-dimensional high-resolution finite element modeling of the IVD.

An In Vitro Organ Culture Model of the Murine Intervertebral Disc

Whole organ culture of the intervertebral disc (IVD) preserves the native extracellular matrix, cell phenotypes, and cellular-matrix interactions. Here we describe an IVD culture system using mouse lumbar and caudal IVDs in their functional spinal units and several applications utilizing this system.

<em&gt; 체외</em쥐의 추간판의&gt; 장기 문화 모델

Intervertebral disc (IVD) degeneration is a significant contributor to low back pain. The IVD is a fibrocartilaginous joint that serves to transmit and ...

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.

Vivo에서 부분 간 엔지니어링을에서 위한 쥐를 기초로 새로운 수술 기법

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.

통합 된 마이크로 전극을 가진 바이오 영감 소프트 로봇

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.

DNA를 사용하여 세포의 간단하고, 적당한, 모듈식 패터닝

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.

복셀 인쇄 해부학 : 비트 맵 인쇄를 통해 사실적이고 사전 수술 계획 모델의 설계 및 제작

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