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Permanent URI for this collectionhttps://hdl.handle.net/20.500.14288/6
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Publication Open Access 3D printed personalized magnetic micromachines from patient blood-derived biomaterials(American Association for the Advancement of Science (AAAS), 2021) Ceylan, Hakan; Doğan, Nihal Olcay; Yaşa, İmmihan Ceren; Department of Mechanical Engineering; Sitti, Metin; Musaoğlu, Miraç Nur; Kulalı, Zeynep Umut; Faculty Member; Department of Mechanical Engineering; College of Engineering; School of Medicine; 297104; N/A; N/AWhile recent wireless micromachines have shown increasing potential for medical use, their potential safety risks concerning biocompatibility need to be mitigated. They are typically constructed from materials that are not intrinsically compatible with physiological environments. Here, we propose a personalized approach by using patient blood-derivable biomaterials as the main construction fabric of wireless medical micromachines to alleviate safety risks from biocompatibility. We demonstrate 3D printed multiresponsive microswimmers and microrollers made from magnetic nanocomposites of blood plasma, serum albumin protein, and platelet lysate. These micro-machines respond to time-variant magnetic fields for torque-driven steerable motion and exhibit multiple cycles of pH-responsive two-way shape memory behavior for controlled cargo delivery and release applications. Their proteinaceous fabrics enable enzymatic degradability with proteinases, thereby lowering risks of long-term toxicity. The personalized micromachine fabrication strategy we conceptualize here can affect various future medical robots and devices made of autologous biomaterials to improve biocompatibility and smart functionality.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 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 Molecular dynamics study of orientation-dependent tensile properties of Si nanowires with native oxide: surface stress and surface energy effects(Institute of Electrical and Electronics Engineers (IEEE), 2021) Esfahani, Mohammad Nasr; Department of Mechanical Engineering; Alaca, Burhanettin Erdem; Zarepakzad, Sina; Faculty Member; Department of Mechanical Engineering; Koç University Surface Science and Technology Center (KUYTAM) / Koç Üniversitesi Yüzey Teknolojileri Araştırmaları Merkezi (KUYTAM); College of Engineering; Graduate School of Sciences and Engineering; 115108; N/AMolecular dynamics (MD) simulations are employed to investigate the influence of native oxide layer on the mechanical properties of Si nanowires (NWs) through analyzing surface stress and surface energy effect. This work studies the tensile response of Si NWs along <100> and <110> crystal orientations. MD results are compared with the traditional core-shell model on the estimation of the modulus of elasticity of Si NWs with a native oxide layer. Density functional theory (DFT) methods are used to verify MD results on the surface energy calculations. Surface stress and surface elastic constants are studied for native oxide surface using MD simulations and compared with unreconstructed surfaces. In this work, the role of native oxide is addressed to understand the difference between experimental and computational findings on the modulus of elasticity of Si NWs.Publication Open Access Soft-bodied adaptive multimodal locomotion strategies in fluid-filled confined spaces(American Association for the Advancement of Science (AAAS), 2021) Ren, Z.; Zhang, R.; Soon, R. H.; Liu, Z.; Hu, W.; Onck, P. R.; Department of Mechanical Engineering; Sitti, Metin; Faculty Member; Department of Mechanical Engineering; School of Medicine; College of Engineering; 297104Soft-bodied locomotion in fluid-filled confined spaces is critical for future wireless medical robots operating inside vessels, tubes, channels, and cavities of the human body, which are filled with stagnant or flowing biological fluids. However, the active soft-bodied locomotion is challenging to achieve when the robot size is comparable with the cross-sectional dimension of these confined spaces. Here, we propose various control and performance enhancement strategies to let the sheet-shaped soft millirobots achieve multimodal locomotion, including rolling, undulatory crawling, undulatory swimming, and helical surface crawling depending on different fluid-filled confined environments. With these locomotion modes, the sheet-shaped soft robot can navigate through straight or bent gaps with varying sizes, tortuous channels, and tubes with a flowing fluid inside. Such soft robot design along with its control and performance enhancement strategies are promising to be applied in future wireless soft medical robots inside various fluid-filled tight regions of the human body.Publication Open Access High-performance magnetic FePt (L1(0)) surface microrollers towards medical imaging-guided endovascular delivery applications(Wiley, 2021) Bozüyük, U.; Suadiye, E.; Aghakhani, A.; Doğan, N.O.; Lazovic, J.; Tiryaki, M.E.; Schneider, M.; Karacakol, A.C.; Demir, S.O., Richter, G.; Department of Mechanical Engineering; Sitti, Metin; Faculty Member; Department of Mechanical Engineering; College of Engineering; School of Medicine; 297104Controlled microrobotic navigation in the vascular system can revolutionize minimally invasive medical applications, such as targeted drug and gene delivery. Magnetically controlled surface microrollers have emerged as a promising microrobotic platform for controlled navigation in the circulatory system. Locomotion of micrororollers in strong flow velocities is a highly challenging task, which requires magnetic materials having strong magnetic actuation properties while being biocompatible. The L10-FePt magnetic coating can achieve such requirements. Therefore, such coating has been integrated into 8 µm-diameter surface microrollers and investigated the medical potential of the system from magnetic locomotion performance, biocompatibility, and medical imaging perspectives. The FePt coating significantly advanced the magnetic performance and biocompatibility of the microrollers compared to a previously used magnetic material, nickel. The FePt coating also allowed multimodal imaging of microrollers in magnetic resonance and photoacoustic imaging in ex vivo settings without additional contrast agents. Finally, FePt-coated microrollers showed upstream locomotion ability against 4.5 cm s?1 average flow velocity with real-time photoacoustic imaging, demonstrating the navigation control potential of microrollers in the circulatory system for future in vivo applications. Overall, L10-FePt is conceived as the key material for image-guided propulsion in the vascular system to perform future targeted medical interventions.Publication Open Access CRISPR-Cas-Integrated LAMP(Multidisciplinary Digital Publishing Institute (MDPI), 2022) N/A; Department of Mechanical Engineering; Özdalgıç, Berin; Taşoğlu, Savaş; Yığcı, Defne; Atçeken, Nazente; PhD Student; Faculty Member; Department of Mechanical Engineering; Koç University Research Center for Translational Medicine (KUTTAM) / Koç Üniversitesi Translasyonel Tıp Araştırma Merkezi (KUTTAM); KU Arçelik Research Center for Creative Industries (KUAR) / KU Arçelik Yaratıcı Endüstriler Uygulama ve Araştırma Merkezi (KUAR); Graduate School of Sciences and Engineering; College of Engineering; School of Medicine; N/A; 291971; N/A; N/APathogen-specific point-of-care (PoC) diagnostic tests have become an important need in the fight against infectious diseases and epidemics in recent years. PoC diagnostic tests are designed with the following parameters in mind: rapidity, accuracy, sensitivity, specificity, and ease of use. Molecular techniques are the gold standard for pathogen detection due to their accuracy and specificity. There are various limitations in adapting molecular diagnostic methods to PoC diagnostic tests. Efforts to overcome limitations are focused on the development of integrated molecular diagnostics by utilizing the latest technologies available to create the most successful PoC diagnostic platforms. With this point of view, a new generation technology was developed by combining loop-mediated isothermal amplification (LAMP) technology with clustered regularly interspaced short palindromic repeat (CRISPR)-associated (CRISPR-Cas) technology. This integrated approach benefits from the properties of LAMP technology, namely its high efficiency, short turnaround time, and the lack of need for a complex device. It also makes use of the programmable function of CRISPR-Cas technology and the collateral cleavage activity of certain Cas proteins that allow for convenient reporter detection. Thus, this combined technology enables the development of PoC diagnostic tests with high sensitivity, specificity, and ease of use without the need for complicated devices. In this review, we discuss the advantages and limitations of the CRISPR/Cas combined LAMP technology. We review current limitations to convert CRISPR combined LAMP into pathogen-specific PoC platforms. Furthermore, we point out the need to design more useful PoC platforms using microfabrication technologies by developing strategies that overcome the limitations of this new technology, reduce its complexity, and reduce the risk of contamination.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 Emerging applications of electrochemical impedance spectroscopy in tear film analysis(Multidisciplinary Digital Publishing Institute (MDPI), 2022) Department of Mechanical Engineering; Taşoğlu, Savaş; Özdalgıç, Berin; Gül, Münire; Atçeken, Nazente; Uygun, Zihni Onur; Faculty Member; PhD Student; Other; Department of Mechanical Engineering; Koç University Research Center for Translational Medicine (KUTTAM) / Koç Üniversitesi Translasyonel Tıp Araştırma Merkezi (KUTTAM); KU Arçelik Research Center for Creative Industries (KUAR) / KU Arçelik Yaratıcı Endüstriler Uygulama ve Araştırma Merkezi (KUAR); College of Engineering; 291971; 323683; N/A; N/A; N/AHuman tear film, with a flow rate of 1–3 µL/min, is a rich bodily fluid that transmits a variety of metabolites and hormones containing proteins, lipids and electrolytes that provide clues about ocular and systemic diseases. Analysis of disease biomarkers such as proteins, mRNA, enzymes and cytokines in the tear film, collected by noninvasive methods, can provide significant results for sustaining a predictive, preventive and personalized medicine regarding various diseases such as glaucoma, diabetic retinopathy, keratoconus, dry eye, cancer, Alzheimer’s disease, Parkinson’s disease and COVID-19. Electrochemical impedance spectroscopy (EIS) offers a powerful technique for analyzing these biomarkers. EIS detects electrical equivalent circuit parameters related to biorecognition of receptor–analyte interactions on the electrode surface. This method is advantageous as it performs a label-free detection and allows the detection of non-electroactive compounds that cannot be detected by direct electron transfer, such as hormones and some proteins. Here, we review the opportunities regarding the integration of EIS into tear fluid sampling approaches.