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Metin Sitti

Publications and source records attributed to Metin Sitti.

At least 19 recordsLinked to original sources

Interaction mechanics of acoustic cavitation with fibrin networks

Stiff and dense fibrin networks in chronic blood clots impede drug penetration, limiting the efficacy of thrombolytic therapies. Acoustic cavitation of microbubbles is a promising strategy to enhance drug delivery in soft tissues. However, the interaction of these bubbles with stiff fibrin networks has yet to be investigated. Here, we show that ultrasound-driven bubbles undergoing periodic oscillations can penetrate and alter dense fibrin networks. The penetrated bubbles create three-dimensional paths that enable nanobeads (matrix transport markers) to infiltrate up to 200 \textmu m deep into the mesh. Radial bubble oscillation is found to be the dominant forcing mechanism on fibrin fibers. Combining mechanical measurements with these observations reveals that the radial stress from a single bubble oscillation is far below the fracture strength of fibrin fibers. Instead, repeated sub-fracture loading from thousands of oscillations progressively accumulates damage and softens the network until it yields - the plausible mechanism for bubble penetration through the fiber mesh. We further explored this fibrin softening at a range of peak applied forces. At low force, the fibrin network initially softens, but is resistant to further damage after hundreds of cycles. At higher forces, networks continue to soften without reaching a stable state, indicating the progressive accumulation of damage. These results show that cavitation can enhance matrix transport in dense fiber mesh by softening and structurally altering fibrin networks. The underlying physics is governed by the viscoplastic mechanics of bubble-fibrin interactions. These findings establish a mechanistic framework to design comprehensive treatment strategies for fibrotic aged clots.

cond-mat.soft

A Compact Peristaltic Pump Based on Magneto-Elastic Hysteresis with Single Pneumatic Control

Pumping fluids is fundamental to a wide range of industrial, environmental, and biomedical applications. Among various pumping mechanisms, peristaltic pumps enable efficient and safe fluid transport by deforming an elastic tube without direct contact with the working fluid. Although previous studies have introduced mechanical, pneumatic, or magnetic actuations to drive membrane deformation, these approaches often lead to complex pump architectures and control schemes. In this study, we present a soft membrane pump that achieves peristaltic motion through a single pneumatic input combined with an embedded passive magnet. The actuation mechanism and system dynamics were analyzed and simplified through modeling. Numerical simulations were conducted to predict the internal fluid flow, and the magneto-elastic hysteresis behavior observed in the simulations was successfully validated by experiments with a proof-of-concept prototype.

cs.RO

Nonlinear optical response and spontaneous polarization in layer-stacked gallenene using second harmonic generation

Gallenene is a promising low-dimensional material with a structure down to the thickness of a single atom, similar to graphene. However, van der Waals stacking of two-dimensional (2D) gallenene under confinement remain poorly understood. In this study, we present evidence of the formation of parallel-stacked hexagonal gallenene (a100) structures in liquid gallium. The present study demonstrates the AB stacking of 2D gallenene a100 crystals in liquid gallium sandwiched between two graphene layers, as observed through transmission electron microscopy. A nonlinear optical response of the confined hexagonal gallenene was investigated through second harmonic generation (SHG) microscopy. The SHG signal exhibits periodic peak intensity shifts upon angular rotation up to 90 degrees and intensity dampening at elevated temperatures. These findings offer insights on device applications of 2D gallenene.

cond-mat.mtrl-sci

Perturbing Dynamics of Active Emulsions and Their Collectives

Controlling fluidic flows in active droplets is crucial in developing intelligent models to understand and mimic single-celled microorganisms. Typically, these fluidic flows are affected by the interfacial dynamics of chemical agents. We found that these flows can be reconfigured by the mere presence of anisotropic solid boundary embedded within active droplets. Spontaneous fluidic flows dynamically orient an embedded magnetic cluster and the magnetic cluster, when realigned, causes these flows to reorient. Thus, providing an unprecedented control over the propulsion dynamics of chemotactic emulsions. When continuously perturbed, achiral emulsions exhibit emergent chiral motion with rotating fluidic flows. Such solid-fluid interactions removes barriers of specific emulsion chemistries and complements their inherent abilities thereby also enabling control over emergent collective behaviors of active droplets.

cond-mat.soft

A Simple Quantitative Model of Neuromodulation. Part I: Ion Flow Through Neural Ion Channels

We develop a simple model of ionic current through neuronal membranes as a function of membrane potential and extracellular ion concentration. The model combines a simplified Poisson-Nernst-Planck (PNP) model of ion transport through individual mechanosensitive ion channels with channel activation functions calibrated from ad hoc in-house experimental data. The simplified PNP model is validated against bacterial Gramicidin A ion channel data. The calibrated model accounts for the transport of calcium, sodium, potassium, and chloride and exhibits remarkable agreement with the experimentally measured current-voltage curves for the differentiated human neural cells. All relevant data and code related to the ion flow models are available at DaRUS.

physics.bio-ph

MRI-powered Magnetic Miniature Capsule Robot with HIFU-controlled On-demand Drug Delivery

Magnetic resonance imaging (MRI)-guided robotic systems offer great potential for new minimally invasive medical tools, including MRI-powered miniature robots. By re-purposing the imaging hardware of an MRI scanner, the magnetic miniature robot could be navigated into the remote part of the patient's body without needing tethered endoscopic tools. However, the state-of-art MRI-powered magnetic miniature robots have limited functionality besides navigation. Here, we propose an MRI-powered magnetic miniature capsule robot benefiting from acoustic streaming forces generated by MRI-guided high-intensity focus ultrasound (HIFU) for controlled drug release. Our design comprises a polymer capsule shell with a submillimeter-diameter drug-release hole that captures an air bubble functioning as a stopper. We use the HIFU pulse to initiate drug release by removing the air bubble once the capsule robot reaches the target location. By controlling acoustic pressure, we also regulate the drug release rate for multiple location targeting during navigation. We demonstrated that the proposed magnetic capsule robot could travel at high speed up to 1.13 cm/s in ex vivo porcine small intestine and release drug to multiple target sites in a single operation, using a combination of MRI-powered actuation and HIFU-controlled release. The proposed MRI-guided microrobotic drug release system will greatly impact minimally invasive medical procedures by allowing on-demand targeted drug delivery.

cs.RO

Designing Covalent Organic Framework-based Light-driven Microswimmers towards Intraocular Theranostic Applications

Even micromachines with tailored functionalities enable targeted therapeutic applications in biological environments, their controlled motion in biological media and drug delivery functions usually require sophisticated designs and complex propulsion apparatuses for practical applications. Covalent organic frameworks (COFs), new chemically versatile and nanoporous materials, offer microscale multi-purpose solutions, which are not explored in light-driven micromachines. We describe and compare two different types of COFs, uniformly spherical TABP-PDA-COF sub-micron particles and texturally highly nanoporous, irregular, micron-sized TpAzo-COF particles as light-driven microrobots. They can be used as highly efficient visible-light-driven drug carriers in aqueous ionic and cellular media, even in intraocular fluids. Their absorption ranging down to red light enables phototaxis even in deeper biological media and the organic nature of COFs enables their biocompatibility. The inherently porous structure with ~2.5 nm structural pores, and large surface areas allow for targeted and efficient drug loading even for insoluble drugs and peptides, which can be released on demand. Also, indocyanine green (ICG) dye loading in the pores enables photoacoustic imaging or optical coherence tomography and hyperthermia in operando conditions. The real-time visualization of the drug-loaded COF microswimmers enables new insights into the function of porous organic micromachines, which will be useful to solve various drug delivery problems.

physics.bio-ph

Design and Development of a Lorentz Force-Based MRI-Driven Neuroendoscope

The introduction of neuroendoscopy, microneurosurgery, neuronavigation, and intraoperative imaging for surgical operations has made significant improvements over other traditionally invasive surgical techniques. The integration of magnetic resonance imaging (MRI)-driven surgical devices with intraoperative imaging and endoscopy can enable further advancements in surgical treatments and outcomes. This work proposes the design and development of an MRI-driven endoscope leveraging the high (3-7 T), external magnetic field of an MR scanner for heat-mitigated steering within the ventricular system of the brain. It also demonstrates the effectiveness of a Lorentz force-based grasper for diseased tissue manipulation and ablation. Feasibility studies show the neuroendoscope can be steered precisely within the lateral ventricle to locate a tumor using both MRI and endoscopic guidance. Results also indicate grasping forces as high as 31 mN are possible and power inputs as low as 0.69 mW can cause cancerous tissue ablation. These findings enable further developments of steerable devices using MR imaging integrated with endoscopic guidance for improved outcomes.

eess.SY

Order and Information in the Patterns of Spinning Magnetic Micro-disks at the Air-water Interface

The application of the Shannon entropy to study the relationship between information and structures has yielded insights into molecular and material systems. However, the difficulty in directly observing and manipulating atoms and molecules hampers the ability of these systems to serve as model systems for further exploring the links between information and structures. Here, we use, as a model experimental system, hundreds of spinning magnetic micro-disks self-organizing at the air-water interface to generate various spatiotemporal patterns with varying degrees of orders. Using the neighbor distance as the information-bearing variable, we demonstrate the links among information, structure, and interactions. Most importantly, we establish a direct link between information and structure without using explicit knowledge of interactions. Finally, we show that the Shannon entropy by neighbor distances is a powerful observable in characterizing structural changes. Our findings are relevant for analyzing natural self-organizing systems and for designing collective robots.

cond-mat.soft

Biocompatible carbon nitride-based light-driven microswimmer propulsion in biological and ionic media with responsive on-demand drug delivery

We propose two-dimensional organic poly(heptazine imide) (PHI) carbon nitride microparticles as light-driven microswimmers in various ionic and biological media. Their demonstrated high-speed (15-23 $μ$m/s) swimming in multi-component ionic solutions with concentrations up to 1 M and without dedicated fuels is unprecedented, overcoming one of the bottlenecks of previous light-driven microswimmers. Such high ion tolerance is attributed to a favorable interplay between the particle's textural and structural nanoporosity and optoionic properties, facilitating ionic interactions in solutions with high salinity. Biocompatibility of the microswimmers is validated by cell viability tests with three different cell types and primary cells. The nanopores of the swimmers are loaded with a model cancer drug, doxorubicin (DOX), in high (185%) loading efficiency without passive release. Controlled drug release is reported in different pH conditions and can be triggered on-demand also by illumination. Light-triggered, boosted release of DOX and its active degradation products is demonstrated in oxygen-poor conditions using the intrinsic, environmentally sensitive and light-induced charge storage properties of PHI, which could enable future theranostic applications in oxygen-deprived tumor regions. These organic PHI microswimmers simultaneously solve the current light-driven microswimmer challenges of high ion tolerance, fuel-free high-speed propulsion in biological media, biocompatibility and controlled on-demand cargo release towards their biomedical, environmental and other potential future applications.

cond-mat.soft

Suction-based Soft Robotic Gripping of Rough and Irregular Parts

Recently, suction-based robotic systems with microscopic features or active suction components have been proposed to grip rough and irregular surfaces. However, sophisticated fabrication methods or complex control systems are required for such systems, and robust attachment to rough real-world surfaces still remains a grand challenge. Here, we propose a fully soft robotic gripper, where a flat elastic membrane is used to conform and contact parts or surfaces well, where an internal negative pressure exerted on the air-sealed membrane induces the suction-based gripping. 3D printing in combination with soft molding techniques enable the fabrication of the soft gripper. Robust attachment to complex 3D and rough surfaces is enabled by the surface-conformable soft flat membrane, which generates strong and robust suction at the contact interface. Such robust attachment to rough and irregular surfaces enables manipulation of a broad range of real-world objects, such as an egg, lime, and foiled package, without any physical damage. Compared to the conventional suction cup designs, the proposed suction gripper design shows a four-fold increase in gripping performance on rough surfaces. Furthermore, the structural and material simplicity of the proposed gripper architecture facilitates its system-level integration with other soft robotic peripherals, which can enable broader impact in diverse fields, such as digital manufacturing, robotic manipulation, and medical gripping applications.

physics.app-ph

Selectively Controlled Magnetic Microrobots with Opposing Helices

Magnetic microrobots that swim through liquid media are of interest for minimally invasive medical procedures, bioengineering, and manufacturing. Many of the envisaged applications, such as micromanipulation and targeted cargo delivery, necessitate the use and adequate control of multiple microrobots, which will increase the velocity, robustness, and efficacy of a procedure. While various methods involving heterogeneous geometries, magnetic properties, and surface chemistries have been proposed to enhance independent control, the main challenge has been that the motion between all microwsimmers remains coupled through the global control signal of the magnetic field. Katsamba and Lauga proposed transchiral microrobots, a theoretical design with magnetized spirals of opposite handedness. The competition between the spirals can be tuned to give an intrinsic nonlinearity that each device can function only within a given band of frequencies. This allows individual microrobots to be selectively controlled by varying the frequency of the rotating magnetic field. Here we present the experimental realization and characterization of transchiral micromotors composed of independently driven magnetic helices. We show a swimming micromotor that yields negligible net motion until a critical frequency is reached and a micromotor that changes its translation direction as a function of the frequency of the rotating magnetic field. This work demonstrates a crucial step towards completely decoupled and addressable swimming magnetic microrobots.

cond-mat.soft

Rotational Flows Generated by Microrobots Rotating Near Surfaces at Low Reynolds Number

In this study, we use numerical simulations to investigate the flow field induced by a single magnetic microrobot rotating with a constant angular speed about an axis perpendicular to an underlying surface. A parallel solver for steady Stokes flow equations based on the boundary-element method is used for simulating these flows. A simple transformation is introduced to extend the predictive capability of the solver to cases with small unsteadiness. Flows induced by four simple robot shapes are investigated: sphere, upright cylinder, horizontally-laid cylinder, and five-pointed star-shaped prism. Shapes with cross-sections that are axisymmetric about the rotation axis (sphere and upright cylinder) generate time-invariant flow fields, which could be useful for applications such as micromanipulation. Non-axisymmetric shapes (horizontally-laid cylinder and the star-shaped prism) induce significant unsteadiness inside the flow field, which could be desirable for applications such as micromixing. Furthermore, a slender horizontally-laid cylinder generates substantially three-dimensional flows, an added benefit for micromixing applications. The presence of nearby walls such as a bottom substrate or sidewalls has a retarding effect on the induced flows, which is quantified. Finally, we present the driving torque and power-consumption of these microrobots rotating in viscous liquids. The numerical modeling platform used in this work can enable future optimal microrobot designs for a given application requirement.

physics.flu-dyn

Bio-inspired Flexible Twisting Wings Increase Lift and Efficiency of a Flapping Wing Micro Air Vehicle

We investigate the effect of wing twist flexibility on lift and efficiency of a flapping-wing micro air vehicle capable of liftoff. Wings used previously were chosen to be fully rigid due to modeling and fabrication constraints. However, biological wings are highly flexible and other micro air vehicles have successfully utilized flexible wing structures for specialized tasks. The goal of our study is to determine if dynamic twisting of flexible wings can increase overall aerodynamic lift and efficiency. A flexible twisting wing design was found to increase aerodynamic efficiency by 41.3%, translational lift production by 35.3%, and the effective lift coefficient by 63.7% compared to the rigid-wing design. These results exceed the predictions of quasi-steady blade element models, indicating the need for unsteady computational fluid dynamics simulations of twisted flapping wings.

physics.flu-dyn

Characterization and Thermal Management of a DC Motor-Driven Resonant Actuator for Miniature Mobile Robots with Oscillating Limbs

In this paper, we characterize the performance of and develop thermal management solutions for a DC motor-driven resonant actuator developed for flapping wing micro air vehicles. The actuator, a DC micro-gearmotor connected in parallel with a torsional spring, drives reciprocal wing motion. Compared to the gearmotor alone, this design increased torque and power density by 161.1% and 666.8%, respectively, while decreasing the drawn current by 25.8%. Characterization of the actuator, isolated from nonlinear aerodynamic loading, results in standard metrics directly comparable to other actuators. The micro-motor, selected for low weight considerations, operates at high power for limited duration due to thermal effects. To predict system performance, a lumped parameter thermal circuit model was developed. Critical model parameters for this micro-motor, two orders of magnitude smaller than those previously characterized, were identified experimentally. This included the effects of variable winding resistance, bushing friction, speed-dependent forced convection, and the addition of a heatsink. The model was then used to determine a safe operation envelope for the vehicle and to design a weight-optimal heatsink. This actuator design and thermal modeling approach could be applied more generally to improve the performance of any miniature mobile robot or device with motor-driven oscillating limbs or loads.

eess.SP

Cohesive self-organization of mobile microrobotic swarms

Mobile microrobots are envisioned to be useful in a wide range of high-impact applications, many of which requiring cohesive group formation to maintain self-bounded swarms in the absence of confining boundaries. Cohesive group formation relies on a balance between attractive and repulsive interactions between agents. We found that a balance of magnetic dipolar attraction and multipolar repulsion between self-assembled particle chain microrobots enable their self-organization into cohesive clusters. Self-organized microrobotic clusters translate above a solid substrate via a hydrodynamic self-propulsion mechanism. Cluster velocity increases with cluster size, resulting from collective hydrodynamic effects. Clustering is promoted by the strength of cohesive interactions and hindered by heterogeneities of individual microrobots. Scalability of cohesive interactions allows formation of larger groups, whose internal spatiotemporal organization undergoes a transition from solid-like ordering to liquid-like behavior with increasing cluster size. Our work elucidates the dynamics of clustering under cohesive interactions, and presents an approach for addressing operation of microrobots as localized teams.

cond-mat.soft

Monolithic shape-programmable dielectric liquid crystal elastomer actuators

Macroscale robotic systems have demonstrated great capabilities of high speed, precise, and agile functions. However, the ability of soft robots to perform complex tasks, especially in centimeter and millimeter scale, remains limited due to the unavailability of fast, energy-efficient soft actuators that can programmably change shape. Here, we combine desirable characteristics from two distinct active materials: fast and efficient actuation from dielectric elastomers and facile shape programmability from liquid crystal elastomers into a single shape changing electrical actuator. Uniaxially aligned monoliths achieve strain rates over 120%/s with energy conversion efficiency of 20% while moving loads over 700 times the actuator weight. The combined actuator technology offers unprecedented opportunities towards miniaturization with precision, efficiency, and more degrees of freedom for applications in soft robotics and beyond.

cond-mat.soft

The near and far of a pair of magnetic capillary disks

Control on microscopic scales depends critically on our ability to manipulate interactions with different physical fields. The creation of micro-machines therefore requires us to understand how multiple fields, such as surface capillary or electro-magnetic, can be used to produce predictable behaviour. Recently, a spinning micro-raft system was developed that exhibited both static and dynamic self-assembly [Wang et al. (2017) Sci. Adv. 3, e1602522]. These rafts employed both capillary and magnetic interactions and, at a critical driving frequency, would suddenly change from stable orbital patterns to static assembled structures. In this paper, we explain the dynamics of two interacting micro-rafts through a combination of theoretical models and experiments. This is first achieved by identifying the governing physics of the orbital patterns, the assembled structures, and the collapse separately. We find that the orbital patterns are determined by the short range capillary interactions between the disks, while the explanations of the other two behaviours only require the capillary far field. Finally we combine the three models to explain the dynamics of a new micro-raft experiment.

cond-mat.soft