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Permanent URI for this collectionhttps://hdl.handle.net/20.500.14288/6
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Publication Open Access Thiophene-based trimers for in vivo electronic functionalization of tissues(American Chemical Society (ACS), 2020) Mantione, Daniele; Dufil, Gwennael; Vallan, Lorenzo; Parker, Daniela; Brochon, Cyril; Cloutet, Eric; Hadziioannou, Georges; Berggren, Magnus; Stavrinidou, Eleni; Pavlopoulou, Eleni; Department of Mechanical Engineering; İstif, Emin; Faculty Member; Master Student; Department of Mechanical Engineering; College of EngineeringElectronic materials that can self-organize in vivo and form functional components along the tissue of interest can result in a seamless integration of the bioelectronic interface. Previously, we presented in vivo polymerization of the conjugated oligomer ETE-S in plants, forming conductors along the plant structure. The EDOT-thiophene-EDOT trimer with a sulfonate side group polymerized due to the native enzymatic activity of the plant and integrated within the plant cell wall. Here, we present the synthesis of three different conjugated trimers based on thiophene and EDOT or purely EDOT trimers that are able to polymerize enzymatically in physiological pH in vitro as well as in vivo along the roots of living plants. We show that by modulating the backbone and the side chain, we can tune the electronic properties of the resulting polymers as well as their localization and penetration within the root. Our work paves the way for the rational design of electronic materials that can self-organize in vivo for spatially controlled electronic functionalization of living tissue.Publication Open Access Wireless MRI-powered reversible orientation-locking capsule robot(Wiley, 2021) Erin, Önder; Boyvat, Mustafa; Lazovic, Jelena; Tiryaki, Mehmet Efe; Department of Mechanical Engineering; Sitti, Metin; Faculty Member; Department of Mechanical Engineering; College of Engineering; School of Medicine; 297104Magnetic resonance imaging (MRI) scanners do not provide only high-resolution medical imaging but also magnetic robot actuation and tracking. However, the rotational motion capabilities of MRI-powered wireless magnetic capsule-type robots have been limited due to the very high axial magnetic field inside the MRI scanner. Medical functionalities of such robots also remain a challenge due to the miniature robot designs. Therefore, a wireless capsule-type reversible orientation-locking robot (REVOLBOT) is proposed that has decoupled translational motion and planar orientation change capability by locking and unlocking the rotation of a spherical ferrous bead inside the robot on demand. Such an on-demand locking/unlocking mechanism is achieved by a phase-changing wax material in which the ferrous bead is embedded inside. Controlled and on-demand hyperthermia and drug delivery using wireless power transfer-based Joule heating induced by external alternating magnetic fields are the additional features of this robot. The experimental feasibility of the REVOLBOT prototype with steerable navigation, medical function, and MRI tracking capabilities with an 1.33 Hz scan rate is demonstrated inside a preclinical 7T small-animal MRI scanner. The proposed robot has the potential for future clinical use in teleoperated minimally invasive treatment procedures with hyperthermia and drug delivery capabilities while being wirelessly powered and monitored inside MRI scanners.nd. Such an on-demand locking/unlocking mechanism is achieved by a phase-changing wax material in which the ferrous bead is embedded inside. Controlled and on-demand hyperthermia and drug delivery using wireless power transfer-based Joule heating induced by external alternating magnetic fields are the additional features of this robot. The experimental feasibility of the REVOLBOT prototype with steerable navigation, medical function, and MRI tracking capabilities with an 1.33 Hz scan rate is demonstrated inside a preclinical 7T small-animal MRI scanner. The proposed robot has the potential for future clinical use in teleoperated minimally invasive treatment procedures with hyperthermia and drug delivery capabilities while being wirelessly powered and monitored inside MRI scanners.Publication Open Access Finger-actuated microneedle array for sampling body fluids(Multidisciplinary Digital Publishing Institute (MDPI), 2021) Ahmadpour, Abdollah; Yetişen, Ali K.; Department of Mechanical Engineering; Taşoğlu, Savaş; Sarabi, Misagh Rezapour; Faculty Member; Department of Mechanical Engineering; KU Arçelik Research Center for Creative Industries (KUAR) / KU Arçelik Yaratıcı Endüstriler Uygulama ve Araştırma Merkezi (KUAR); Koç University Research Center for Translational Medicine (KUTTAM) / Koç Üniversitesi Translasyonel Tıp Araştırma Merkezi (KUTTAM); College of Engineering; Graduate School of Sciences and Engineering; 291971; N/AThe application of microneedles (MNs) for minimally invasive biological fluid sampling is rapidly emerging, offering a user-friendly approach with decreased insertion pain and less harm to the tissues compared to conventional needles. Here, a finger-powered microneedle array (MNA) integrated with a microfluidic chip was conceptualized to extract body fluid samples. Actuated by finger pressure, the microfluidic device enables an efficient approach for the user to collect their own body fluids in a simple and fast manner without the requirement for a healthcare worker. The processes for extracting human blood and interstitial fluid (ISF) from the body and the flow across the device, estimating the amount of the extracted fluid, were simulated. The design in this work can be utilized for the minimally invasive personalized medical equipment offering a simple usage procedure.Publication Open Access Estimation of pulsatile energy dissipation in intersecting pipe junctions using inflow pulsatility indices(American Institute of Physics (AIP) Publishing, 2021) Dur, Onur; Department of Mechanical Engineering; Pekkan, Kerem; Rasooli, Reza; Faculty Member; Researcher; Department of Mechanical Engineering; Graduate School of Health Sciences; College of Engineering; 161845; N/AThis study aims to characterize the effect of inflow pulsatility on the hydrodynamic power loss inside intersecting double-inlet, double-outlet pipe intersection (DIPI) with cross-flow mixing. An extensive set of computational fluid dynamics (CFD) simulations was performed in order to identify the individual effects of flow pulsatility parameters, i.e., amplitude, frequency, and relative phase shift between the inflow waveform oscillations, on power loss. An experimentally validated second order accurate solver is employed in this study. To predict the pulsatile flow performance of any given arbitrary inflow waveforms, we proposed three easy-to-calculate pulsatility indices. The frequency-coupled quasi-steady flow theory is incorporated to identify the functional form of pulsatile power loss as a function of these indices. Our results indicated that the power loss within the inflow branch sections, lumped outflow-junction section, and the whole conduit correlates strongly with the pulsatility of each inflow waveform, the total inflow pulsatility, and inflow frequency content, respectively. The complete CFD simulation matrix provided a unified analytical expression that predicts pulsatile power loss inside a one-degree offset DIPI geometry. The predictive accuracy of this expression is evaluated in comparison to the CFD evaluation of arbitrary multi-harmonic inflow waveforms. These results have important implications on hydrodynamic pipe networks that employ complex junctions as well as in the patient-to-patient comparison of surgically created vascular connections. Coupling the present analytical pulsatile power loss expression with non-dimensional steady power loss formulation provided a valuable predictive tool to estimate the pulsatile energy dissipation for any arbitrary junction geometry with minimum use of the costly CFD computations.Publication Open Access Wireless miniature magnetic phase-change soft actuators(Wiley, 2022) Tang, Y.; Li, M.; Wang, T.; Dong, X.; Hu, W.; Department of Mechanical Engineering; Sitti, Metin; Faculty Member; Department of Mechanical Engineering; School of Medicine; College of Engineering; 297104Wireless miniature soft actuators are promising for various potential high-impact applications in medical, robotic grippers, and artificial muscles. However, these miniature soft actuators are currently constrained by a small output force and low work capacity. To address such challenges, a miniature magnetic phase-change soft composite actuator is reported. This soft actuator exhibits an expanding deformation and enables up to a 70 N output force and 175.2 J g(-1) work capacity under remote magnetic radio frequency heating, which are 10(6)-10(7) times that of traditional magnetic soft actuators. To demonstrate its capabilities, a wireless soft robotic device is first designed that can withstand 0.24 m s(-1) fluid flows in an artery phantom. By integrating it with a thermally-responsive shape-memory polymer and bistable metamaterial sleeve, a wireless reversible bistable stent is designed toward future potential angioplasty applications. Moreover, it can additionally locomote inside and jump out of granular media. At last, the phase-change actuator can realize programmable bending deformations when a specifically designed magnetization profile is encoded, enhancing its shape-programming capability. Such a miniature soft actuator provides an approach to enhance the mechanical output and versatility of magnetic soft robots and devices, extending their medical and other potential applications.Publication Open Access Programmable collective behavior in dynamically self-assembled mobile microrobotic swarms(Wiley, 2019) Yiğit, Berk; Alapan, Yunus; Department of Mechanical Engineering; Sitti, Metin; Faculty Member; Department of Mechanical Engineering; College of EngineeringCollective control of mobile microrobotic swarms is indispensable for their potential high-impact applications in targeted drug delivery, medical diagnostics, parallel micromanipulation, and environmental sensing and remediation. Without integrated electronics for sensing and actuation, current microrobotic systems should rely on physical interactions among individual microrobots for local communication and cooperation. Here, it is shown that mobile microrobotic swarms with well-defined collective behavior can be designed by engineering magnetic interactions among individual units. Microrobots, dynamically self-assembled from magnetic microparticles into linear chains, locomote on surfaces in response to a precessing magnetic field. Control over precessing magnetic field allows engineering attractive and repulsive interactions among microrobots and, thus, collective order with well-defined spatial organization and stable parallel operation over macroscale distances (approximate to 1 cm) and through confining obstacles. The design approach described here addresses programmable assembly, propulsion, and collective behavior of dense mobile microrobot swarms simultaneously by engineering magnetic interactions and dynamic actuation of microrobots. The presented approach will advance swarm microrobotics by enabling facile and rapid formation of self-organized and reconfigurable microrobotic swarms with programmable collective order and stability.Publication Open Access Intracranial sensors for continuous monitoring of neurophysiology(Wiley, 2021) Jiang, Nan; Flyax, Sergey; Kurz, Wolfgang; Jakobi, Martin; Koch, Alexander W.; Yetişen, Ali K.; Department of Mechanical Engineering; Taşoğlu, Savaş; Faculty Member; Department of Mechanical Engineering; Koç University Research Center for Translational Medicine (KUTTAM) / Koç Üniversitesi Translasyonel Tıp Araştırma Merkezi (KUTTAM); College of Engineering; 291971Brain monitoring; Electrochemical sensors; Fiber-optic sensors; Intracranial sensors; MicrodialysisPublication Open Access Leveraging building material as part of the in-plane robotic kinematic system for collective construction(Wiley, 2022) Leder, S.; Kim, H.; Oğuz, O.S.; Kubail Kalousdian, N.; Hartmann, V.N.; Menges, A.; Toussaint, M.; Department of Mechanical Engineering; Sitti, Metin; Faculty Member; Department of Mechanical Engineering; College of Engineering; School of Medicine; 297104Although collective robotic construction systems are beginning to showcase how multi-robot systems can contribute to building construction by efficiently building low-cost, sustainable structures, the majority of research utilizes non-structural or highly customized materials. A modular collective robotic construction system based on a robotic actuator, which leverages timber struts for the assembly of architectural artifacts as well as part of the robot body for locomotion is presented. The system is co-designed for in-plane assembly from an architectural, robotic, and computer science perspective in order to integrate the various hardware and software constraints into a single workflow. The system is tested using five representative physical scenarios. These proof-of-concept demonstrations showcase three tasks required for construction assembly: the ability of the system to locomote, dynamically change the topology of connecting robotic actuators and timber struts, and collaborate to transport timber struts. As such, the groundwork for a future autonomous collective robotic construction system that could address collective construction assembly and even further increase the flexibility of on-site construction robots through its modularity is laid.Publication Open Access Multi-scale modeling of the impact response of a strain-rate sensitive high-manganese austenitic steel(Frontiers, 2014) Department of Mechanical Engineering; Canadinç, Demircan; Önal, Orkun; Özmenci, Cemre; Faculty Member; Department of Mechanical Engineering; College of Engineering; 23433; N/A; N/AA multi-scale modeling approach was applied to predict the impact response of a strain rate sensitive high-manganese austenitic steel. The roles of texture, geometry, and strain rate sensitivity were successfully taken into account all at once by coupling crystal plasticity and finite element (FE) analysis. Specifically, crystal plasticity was utilized to obtain the multi-axial flow rule at different strain rates based on the experimental deformation response under uniaxial tensile loading. The equivalent stress – equivalent strain response was then incorporated into the FE model for the sake of a more representative hardening rule under impact loading. The current results demonstrate that reliable predictions can be obtained by proper coupling of crystal plasticity and FE analysis even if the experimental flow rule of the material is acquired under uniaxial loading and at moderate strain rates that are significantly slower than those attained during impact loading. Furthermore, the current findings also demonstrate the need for an experiment-based multi-scale modeling approach for the sake of reliable predictions of the impact response.Publication Open Access Correlation between the mechanical and histological properties of liver tissue(Elsevier, 2014) Department of Mechanical Engineering; Başdoğan, Çağatay; Yarpuzlu, Berkay; Ayyıldız, Mehmet; Tok, Olgu Enis; Aktaş, Ranan Gülhan; Faculty Member; Master Student; Faculty Member; Department of Mechanical Engineering; College of Engineering; School of Medicine; 125489; N/A; N/A; N/A; N/AIn order to gain further insight into the mechanisms of tissue damage during the progression of liver diseases as well as the liver preservation for transplantation, an improved understanding of the relation between the mechanical and histological properties of liver is necessary. We suggest that this relation can only be established truly if the changes in the states of those properties are investigated dynamically as a function of post mortem time. In this regard, we first perform mechanical characterization experiments on three bovine livers to investigate the changes in gross mechanical properties (stiffness, viscosity, and fracture toughness) for the preservation periods of 5, 11, 17, 29, 41 and 53 h after harvesting. Then, the histological examination is performed on the samples taken from the same livers to investigate the changes in apoptotic cell count, collagen accumulation, sinusoidal dilatation, and glycogen deposition as a function of the same preservation periods. Finally, the correlation between the mechanical and histological properties is investigated via the Spearman's Rank-Order Correlation method. The results of our study show that stiffness, viscosity, and fracture toughness of bovine liver increase as the preservation period is increased. These macroscopic changes are very strongly correlated with the increase in collagen accumulation and decrease in deposited glycogen level at the microscopic level. Also, we observe that the largest changes in mechanical and histological properties occur after the first 11-17 h of preservation. (C) 2013 Elsevier Ltd. All rights reserved.