Implantable wireless suture sensor for in situ tendon and ligament strain monitoring

Tendon and ligament ruptures are prevalent, and severe sports injuries require surgical repair. In clinical practice, monitoring of tissue strain is critical to alert severe postoperative complications such as graft reinjury and loosening. Here, we present a sensor system that integrates a strain sensor and communication coil onto surgical silk sutures, enabling in situ monitoring and wireless readout of tissue strains via surgical implantation. The flexible sensor shows excellent adaptability to soft tissues, providing a strain monitoring range of 0 to 10% with a minimum detection threshold of 0.25% and maintaining stability more than 300,000 stretching cycles. The wireless sensor could be integrated with complex structures in surgical scenarios involving lateral collateral ligament injury and anterior cruciate ligament reconstruction, enabling distinct responses to graft stretching, reinjury, and loosening. Animal experiments demonstrate that the sensor can acquire real-time, clinical-grade strain data while exhibiting high biocompatibility. The sensor system shows considerable potential in evaluating preclinical implant performance and monitoring implant-related surgical complications.

Hyperelastic constitutive modeling of healthy and enzymatically mediated degraded articular cartilage

This research demonstrates a systematic curve fitting approach for acquiring parametric values of hyperelastic constitutive models for both healthy and enzymatically mediated degenerated cartilage to facilitate finite element modeling of cartilage. Several widely used phenomenological hyperelastic constitutive models were tested to adequately capture the changes in cartilage mechanics that vary with the differential/unequal abundance of matrix metalloproteinases (MMPs). Trauma and physiological conditions result in an increased production of collagenases (MMP-1) and gelatinases (MMP-9), which impacts the load-bearing ability of cartilage by significantly deteriorating its extracellular matrix (ECM). The material parameters in the constitutive equation of each hyperelastic model are significant for developing a comprehensive computational interpretation of MMP mediated degenerated cartilage. Stress-strain responses obtained from indentation test were fitted with selected Ogden, polynomial, reduced polynomial, and van der Waals hyperelastic constitutive models by optimizing their adjustable parameters (material constants). The goodness of fit of the 2nd order reduced polynomial and van der Waals model exhibited the closest data fitting with the experimental stress-strain distributions of healthy and degraded articular cartilage. The coefficient of the shear modulus for the 2nd order reduced polynomial decreased gradually by 21.9% to 80.1% with more enzymatic degradation of collagen fibril due to the relative abundance of MMP-1 (collagenases), and 28.5% to 69.2% for the van der Waals model. Our findings showed that the major materials coefficients of the models were reduced in the degenerated cartilages, and the reduction varied differentially with the relative abundance of MMPs-1 and 9, correlating the severity of degeneration. This work advances the understanding of cartilage mechanics and offers insights into the impact of biochemical (enzymatic) effects on cartilage degradation.

Stiffness-tunable velvet worm-inspired soft adhesive robot

Considering the characteristics and operating environment of remotely controlled miniature soft robots, achieving delicate adhesion control over various target surfaces is a substantial challenge. In particular, the ability to delicately grasp wrinkled and soft biological and nonbiological surfaces with low preload without causing damage is essential. The proposed adhesive robotic system, inspired by the secretions from a velvet worm, uses a structured magnetorheological material that exhibits precise adhesion control with stability and repeatability by the rapid stiffness change controlled by an external magnetic field. The proposed adhesion protocol involves controlling soft-state adhesion, maintaining a large contact area, and enhancing the elastic modulus, and the mechanical structure enhances the effectiveness of this protocol. Demonstrations of the remote adhesive robot include stable transportation in soft and wet organs, unscrewing a nut from a bolt, and supporting mouse tumor removal surgery. These results indicate the potential applicability of the soft adhesive robot in biomedical engineering, especially for targeting small-scale biological tissues and organisms.

Wearable and Implantable Soft Robots

Soft robotics presents innovative solutions across different scales. The flexibility and mechanical characteristics of soft robots make them particularly appealing for wearable and implantable applications. The scale and level of invasiveness required for soft robots depend on the extent of human interaction. This review provides a comprehensive overview of wearable and implantable soft robots, including applications in rehabilitation, assistance, organ simulation, surgical tools, and therapy. We discuss challenges such as the complexity of fabrication processes, the integration of responsive materials, and the need for robust control strategies, while focusing on advances in materials, actuation and sensing mechanisms, and fabrication techniques. Finally, we discuss the future outlook, highlighting key challenges and proposing potential solutions.

Quantifying uniaxial prestress and waveguide effects on dynamic elastography estimates for a cylindrical rod

Dynamic elastography attempts to reconstruct quantitative maps of the viscoelastic properties of materials by noninvasively measuring mechanical wave motion in them. The target motion is typically transversely-polarized relative to the wave propagation direction, such as bulk shear wave motion. In addition to neglecting waveguide effects caused by small lengths in one dimension or more, many reconstruction strategies also ignore nonzero, non-isotropic static preloads. Significant anisotropic prestress is inherent to the functional role of some biological materials of interest, which also are small in size relative to shear wavelengths in one or more dimensions. A cylindrically shaped polymer structure with isotropic material properties is statically elongated along its axis while its response to circumferentially-, axially-, and radially-polarized vibratory excitation is measured using optical or magnetic resonance elastography. Computational finite element simulations augment and aid in the interpretation of experimental measurements. We examine the interplay between uniaxial prestress and waveguide effects. A coordinate transformation approach previously used to simplify the reconstruction of un-prestressed transversely isotropic material properties based on elastography measurements is adapted with partial success to estimate material viscoelastic properties and prestress conditions without requiring advanced knowledge of either.

A Novel Approach for Optimization of Soft Material Constitutive Model Parameters Based on a Genetic Algorithm and Drucker's Stability Criterion

The growing interest in soft materials to develop flexible devices involves the need to create accurate methodologies to determine parameter values of constitutive models to improve their modeling. In this work, a novel approach for the optimization of constitutive model parameters is presented, which consists of using a genetic algorithm (GA) to obtain a set of solutions from data of uniaxial tensile tests, which are later used to simulate the mechanical test using finite element analysis (FEA) software to find an optimal solution considering Drucker's stability criterion. This approach was applied to the elastomer Ecoflex 00-30 considering the Warner and Yeoh models and Rivlin's phenomenological theory. The correlation between the experimental and the predicted data by the models was determined using the root mean squared error (RMSE), where the found parameter sets provided a close fit to the experimental data with RMSE values of 0.022 (ANSYS) and 0.024 (ABAQUS) for Warner's model, while for Yeoh's model were 0.014 (ANSYS) and 0.012 (ABAQUS). It was found that the best parameter values accurately follow the experimental material behavior using FEA. The proposed GA not only optimizes the material parameters but also has a high reproducibility level with average RMSE values of 0.024 for Warner's model and 0.009 for Yeoh's model, fulfilling Drucker's stability criterion.

Soft pneumatic muscles for post-stroke lower limb ankle rehabilitation: leveraging the potential of soft robotics to optimize functional outcomes

Introduction: A soft pneumatic muscle was developed to replicate intricate ankle motions essential for rehabilitation, with a specific focus on rotational movement along the x-axis, crucial for walking. The design incorporated precise geometrical parameters and air pressure regulation to enable controlled expansion and motion. Methods: The muscle's response was evaluated under pressure conditions ranging from 100-145 kPa. To optimize the muscle design, finite element simulation was employed to analyze its performance in terms of motion range, force generation, and energy efficiency. An experimental platform was created to assess the muscle's deformation, utilizing advanced techniques such as high-resolution imaging and deep-learning position estimation models for accurate measurements. The fabrication process involved silicone-based materials and 3D-printed molds, enabling precise control and customization of muscle expansion and contraction. Results: The experimental results demonstrated that, under a pressure of 145 kPa, the y-axis deformation (y-def) reached 165 mm, while the x-axis and z-axis deformations were significantly smaller at 0.056 mm and 0.0376 mm, respectively, highlighting the predominant elongation in the y-axis resulting from pressure actuation. The soft muscle model featured a single chamber constructed from silicone rubber, and the visually illustrated and detailed geometrical parameters played a critical role in its functionality, allowing systematic manipulation to meet specific application requirements. Discussion: The simulation and experimental results provided compelling evidence of the soft muscle design's adaptability, controllability, and effectiveness, thus establishing a solid foundation for further advancements in ankle rehabilitation and soft robotics. Incorporating this soft muscle into rehabilitation protocols holds significant promise for enhancing ankle mobility and overall ambulatory function, offering new opportunities to tailor rehabilitation interventions and improve motor function restoration.

Recent Advances in Sources of Bio-Inspiration and Materials for Robotics and Actuators

Bionic robotics and actuators have made dramatic advancements in structural design, material preparation, and application owing to the richness of nature and innovative material design. Appropriate and ingenious sources of bio-inspiration can stimulate a large number of different bionic systems. After millennia of survival and evolutionary exploration, the mere existence of life confirms that nature is constantly moving in an evolutionary direction of optimization and improvement. To this end, bio-inspired robots and actuators can be constructed for the completion of a variety of artificial design instructions and requirements. In this article, the advances in bio-inspired materials for robotics and actuators with the sources of bio-inspiration are reviewed. The specific sources of inspiration in bionic systems and corresponding bio-inspired applications are summarized first. Then the basic functions of materials in bio-inspired robots and actuators is discussed. Moreover, a principle of matching biomaterials is creatively suggested. Furthermore, the implementation of biological information extraction is discussed, and the preparation methods of bionic materials are reclassified. Finally, the challenges and potential opportunities involved in finding sources of bio-inspiration and materials for robotics and actuators in the future is discussed.

Sensing in Soft Robotics

Soft robotics is an exciting field of science and technology that enables robots to manipulate objects with human-like dexterity. Soft robots can handle delicate objects with care, access remote areas, and offer realistic feedback on their handling performance. However, increased dexterity and mechanical compliance of soft robots come with the need for accurate control of the position and shape of these robots. Therefore, soft robots must be equipped with sensors for better perception of their surroundings, location, force, temperature, shape, and other stimuli for effective usage. This review highlights recent progress in sensing feedback technologies for soft robotic applications. It begins with an introduction to actuation technologies and material selection in soft robotics, followed by an in-depth exploration of various types of sensors, their integration methods, and the benefits of multimodal sensing, signal processing, and control strategies. A short description of current market leaders in soft robotics is also included in the review to illustrate the growing demands of this technology. By examining the latest advancements in sensing feedback technologies for soft robots, this review aims to highlight the potential of soft robotics and inspire innovation in the field.

Actuation technologies for magnetically guided catheters

Due to their wide range of clinical application possibilities, magnetic actuation technologies have grabbed the attention of researchers worldwide. The design, execution, and analysis of magnetic catheter systems have advanced significantly during the last decade. The review focuses on magnetic actuation for catheter steering and control of the device, which will be explored in detail in the following sections. There is a discussion of future work and the challenges of the review systems, and the conclusions are finally addressed.

Decoupling Uniaxial Tensile Prestress and Waveguide Effects From Estimates of the Complex Shear Modulus in a Cylindrical Structure Using Transverse-Polarized Dynamic Elastography

Dynamic elastography, whether based on magnetic resonance, ultrasound, or optical modalities, attempts to reconstruct quantitative maps of the viscoelastic properties of biological tissue, properties altered by disease and injury, by noninvasively measuring mechanical wave motion in the tissue. Most reconstruction strategies that have been developed neglect boundary conditions, including quasi-static tensile or compressive loading resulting in a nonzero prestress. Significant prestress is inherent to the functional role of some biological tissues currently being studied using elastography, such as skeletal and cardiac muscle, arterial walls, and the cornea. In the present article a configuration, inspired by muscle elastography but generalizable to other applications, is analytically and experimentally studied. A hyperelastic polymer phantom cylinder is statically elongated in the axial direction while its response to transverse-polarized vibratory excitation is measured. We examine the interplay between uniaxial prestress and waveguide effects in this muscle-like tissue phantom using computational finite element simulations and magnetic resonance elastography measurements. Finite deformations caused by prestress coupled with waveguide effects lead to results that are predicted by a coordinate transformation approach that has been previously used to simplify reconstruction of anisotropic properties using elastography. Here, the approach estimates material viscoelastic properties that are independent of the nonhomogeneous prestress conditions without requiring advanced knowledge of those stress conditions.

Silicone Elastomeric-Based Materials of Soft Pneumatic Actuator for Lower-Limb Rehabilitation: Finite Element Modelling and Prototype Experimental Validation

This study describes the basic design, material selection, fabrication, and evaluation of soft pneumatic actuators (SPA) for lower-limb rehabilitation compression therapy. SPAs can be a promising technology in proactive pressure delivery, with a wide range of dosages for treating venous-related diseases. However, the most effective design and material selection of SPAs for dynamic pressure delivery have not been fully explored. Therefore, a SPA chamber with two elastomeric layers was developed for this study, with single-side inflation. The 3D deformation profiles of the SPA chamber using three different elastomeric rubbers were analyzed using the finite element method (FEM). The best SPA-compliant behavior was displayed by food-grade silicone A10 Shore with a maximum deformation value of 25.34 mm. Next, the SPA chamber was fabricated using A10 Shore silicone and experimentally validated. During the simulation in FEM, the air pressure was applied on the inner wall of the chamber (i.e., the affected area). This is to ensure the applied pressure was evenly distributed in the inner wall while the outer wall of the chamber remained undeformed for all compression levels. During the inflation process, pressure will be applied to the SPA chamber, causing exerted pressure on the skin which is then measured for comparison. The simulation and experimental results show an excellent agreement of pressure transmission on the skin for the pressure range of 0–120 mmHg, as depicted in the Bland–Altman plots. The findings exhibited promising results in the development of the SPA chamber using low-cost and biocompatible food-grade silicone.

Biaxial Tensile Prestress and Waveguide Effects on Estimates of the Complex Shear Modulus Using Optical-Based Dynamic Elastography in Plate-Like Soft Tissue Phantoms

Dynamic elastography attempts to reconstruct quantitative maps of the viscoelastic properties of biological tissue, properties altered by disease and injury, by noninvasively measuring mechanical wave motion in the tissue. Most reconstruction strategies that have been developed neglect boundary conditions, including quasi-static tensile or compressive loading resulting in a nonzero prestress. Significant prestress is inherent to the functional role of some biological tissues, such as skeletal and cardiac muscle, arterial walls, and the cornea. In the present article a novel configuration, inspired by corneal elastography but generalizable to other applications, is studied. A polymer phantom layer is statically elongated via an in-plane biaxial normal stress while the phantom's response to transverse vibratory excitation is measured. We examine the interplay between biaxial prestress and waveguide effects in this plate-like tissue phantom. Finite static deformations caused by prestressing coupled with waveguide effects lead to results that are predicted by a novel coordinate transformation approach previously used to simplify reconstruction of anisotropic properties. Here, the approach estimates material viscoelastic properties independent of the nonzero prestress conditions without requiring advanced knowledge of those stress conditions.

Current Designs of Robotic Arm Grippers: A Comprehensive Systematic Review

Recent technological advances enable gripper-equipped robots to perform many tasks traditionally associated with the human hand, allowing the use of grippers in a wide range of applications. Depending on the application, an ideal gripper design should be affordable, energy-efficient, and adaptable to many situations. However, regardless of the number of grippers available on the market, there are still many tasks that are difficult for grippers to perform, which indicates the demand and room for new designs to compete with the human hand. Thus, this paper provides a comprehensive review of robotic arm grippers to identify the benefits and drawbacks of various gripper designs. The research compares gripper designs by considering the actuation mechanism, degrees of freedom, grasping capabilities with multiple objects, and applications, concluding which should be the gripper design with the broader set of capabilities.

A hydraulic soft microgripper for biological studies

We have developed a microscale hydraulic soft gripper and demonstrated the handling of an insect without damage. This gripper is built on Polydimethylsiloxane (PDMS) with the soft material casting technique to form three finger-like columns, which are placed on a circular membrane. The fingers have a length of 1.5 mm and a diameter of 300 µm each; the distance between the two fingers is 600 µm of center-to-center distance. A membrane as a 150 µm soft film is built on top of a cylindrical hollow space. Applying pressure to the interior space can bend the membrane. Bending the membrane causes the motion of opening/closing of the gripper, and as a result, the three fingers can grip an object or release it. The PDMS was characterized, and the experimental results were used later in Abaqus software to simulate the gripping motion. The range of deformation of the gripper was investigated by simulation and experiment. The result of the simulation agrees with the experiments. The maximum 543 µN force was measured for this microfluidic-compatible microgripper and it could lift a ball that weighs 168.4 mg and has a 0.5 mm diameter. Using this microgripper, an ant was manipulated successfully without any damage. Results showed fabricated device has great a potential as micro/bio manipulator.

A comparative study of invariant-based hyperelastic models for silicone elastomers under biaxial deformation with the virtual fields method

Silicone elastomers have been widely used for biomedical applications. A variety of hyperelastic models have been proposed to describe this type of materials in the past few decades. The assessment of the quality of the proposed models is mostly based on stress-strain data obtained from uniform deformation, but very little work has been done to investigate model performances with heterogeneous deformation fields and full-field characterization methods. In this study, thirteen hyperelastic models are evaluated using the virtual fields method combined with full-field deformation data obtained from biaxial tests. The quality of these models is assessed by their capabilities to predict the mechanical responses of silicone elastomers, and the influences of the first and second invariants on modeling of elastomers are investigated through comparative studies between models. The results indicate that for elastomers under finite biaxial deformation, Yeoh model performs the best among selected models; the first invariant plays an important role in constitutive modeling; the second invariant does not have obvious influence on improving the fitting performance. This study provides a full-field method to calibrate and compare hyperelastic models of silicone elastomers under biaxial loading conditions.

A generalized Ogden model for the compressibility of rubber-like solids

The aim of this paper is to further demonstrate the advantages and effectiveness of the constitutive formulation proposed by Huang (Huang 2014 J. Appl. Mech. 59, 902-908 (doi:10.1115/1.2894059)). In this formulation, any strain-energy function for an incompressible material can be easily generalized to include the effect of material compressibility, in which only a few material parameters and material functions to be fitted with the experimental data are required. To this end, the Ogden model for incompressible rubber-like solids is chosen as the starting point. By means of this formulation, the generalized Ogden strain-energy function, which takes into account material compressibility, can conveniently be constructed so long as its incompressible counterpart is given. The obvious advantage shown in this paper is that only a few material parameters and material functions are needed, i.e. in addition to the material parameters used in the original Ogden model for incompressible solids, only one material function depending on the volume ratio is involved to characterize the effect of compressibility. Both the material parameters in the original Ogden model and the material function suggested in this paper can be determined by fitting the experimental data for uniaxially tensile test and hydrostatic deformation test of rubbers, respectively. The present model considering compressibility is general since it can be applied to predict the stress-strain responses of rubber-like materials and porous rubbers in various loading conditions. With the present formulation, the applicable range of the celebrated Ogden model can be further broadened, which should be of practical importance for accurately describing the mechanical behaviour of rubber-like solids. This article is part of the theme issue 'The Ogden model of rubber mechanics: Fifty years of impact on nonlinear elasticity'.

Evolutionary Inverse Material Identification: Bespoke Characterization of Soft Materials Using a Metaheuristic Algorithm

The growing interest in soft robotics has resulted in an increased demand for accurate and reliable material modelling. As soft robots experience high deformations, highly nonlinear behavior is possible. Several analytical models that are able to capture this nonlinear behavior have been proposed, however, accurately calibrating them for specific materials and applications can be challenging. Multiple experimental testbeds may be required for material characterization which can be expensive and cumbersome. In this work, we propose an alternative framework for parameter fitting established hyperelastic material models, with the aim of improving their utility in the modelling of soft continuum robots. We define a minimization problem to reduce fitting errors between a soft continuum robot deformed experimentally and its equivalent finite element simulation. The soft material is characterized using four commonly employed hyperelastic material models (Neo Hookean; Mooney–Rivlin; Yeoh; and Ogden). To meet the complexity of the defined problem, we use an evolutionary algorithm to navigate the search space and determine optimal parameters for a selected material model and a specific actuation method, naming this approach as Evolutionary Inverse Material Identification (EIMI). We test the proposed approach with a magnetically actuated soft robot by characterizing two polymers often employed in the field: Dragon Skin™ 10 MEDIUM and Ecoflex™ 00-50. To determine the goodness of the FEM simulation for a specific set of model parameters, we define a function that measures the distance between the mesh of the FEM simulation and the experimental data. Our characterization framework showed an improvement greater than 6% compared to conventional model fitting approaches at different strain ranges based on the benchmark defined. Furthermore, the low variability across the different models obtained using our approach demonstrates reduced dependence on model and strain-range selection, making it well suited to application-specific soft robot modelling.

A Hybrid Structure of Piezoelectric Fibers and Soft Materials as a Smart Floatable Open-Water Wave Energy Converter

An open-water wave energy converter (OWEC) made of a new soft platform has been developed by combining piezoelectric macro-fiber composites (MFCs) and a low-cost elastomer. In the past decades, numerous types of water wave energy conversion platform have been developed and investigated, from buoys to overtopping devices. These harvesters mainly use electromagnetic-based generators, and they have faced challenges such as their enormous size, high deployment and maintenance costs, and negative effects on the environment. These problems hinder their practicality and competitiveness. In this paper, a soft open-water wave energy converter is introduced which integrates piezoelectric MFCs and bubble wrap into an elastomer sheet. The performance of the OWEC was investigated in a wave flume as a floatable structure. The maximum 29.7 µW energy harvested from the small OWEC represents a promising energy conversion performance at low frequencies (<2 Hz). The elastomer was able to protect the MFCs and internal electrical connections without any degradation during the experiment. In addition, the OWEC is a foldable structure, which can reduce the deployment costs in real-world applications. The combination of no maintenance, low fabrication cost, low deployment cost, and moderate energy harvesting capability may advance the OWEC platform to its real-world applications.

Feasibility of Fiber Reinforcement Within Magnetically Actuated Soft Continuum Robots

Soft continuum manipulators have the potential to replace traditional surgical catheters; offering greater dexterity with access to previously unfeasible locations for a wide range of interventions including neurological and cardiovascular. Magnetically actuated catheters are of particular interest due to their potential for miniaturization and remote control. Challenges around the operation of these catheters exist however, and one of these occurs when the angle between the actuating field and the local magnetization vector of the catheter exceeds 90°. In this arrangement, deformation generated by the resultant magnetic moment acts to increase magnetic torque, leading to potential instability. This phenomenon can cause unpredictable responses to actuation, particularly for soft, flexible materials. When coupled with the inherent challenges of sensing and localization inside living tissue, this behavior represents a barrier to progress. In this feasibility study we propose and investigate the use of helical fiber reinforcement within magnetically actuated soft continuum manipulators. Using numerical simulation to explore the design space, we optimize fiber parameters to enhance the ratio of torsional to bending stiffness. Through bespoke fabrication of an optimized helix design we validate a single, prototypical two-segment, 40 mm × 6 mm continuum manipulator demonstrating a reduction of 67% in unwanted twisting under actuation.

A Soft Robotic Sleeve for Safer Colonoscopy Procedures

Colonoscopy is the gold standard for colorectal cancer diagnosis; however, limited instrument dexterity and no sensor feedback can hamper procedure safety and acceptance. We propose a soft robotic sleeve to provide sensor feedback and additional actuation capabilities to improve safety during navigation in colonoscopy. The robot can be mounted around current endoscopic instrumentation as a disposable "add-on", avoiding the need for dedicated or customized instruments and without disrupting current surgical workflow. We focus on design, finite element analysis, fabrication, and experimental characterization and validation of the soft robotic sleeve. The device integrates soft optical sensors to monitor contact interaction forces between the colon and the colonoscope and soft robotic actuators that can be automatically deployed if excessive force is detected, to guarantee pressure redistribution on a larger contact area of the colon. The system can be operated by a surgeon via a graphic user interface that displays contact force values and enables independent or coordinated pressurization of the soft actuators upon demand, in case deemed necessary to aid navigation or distend colon tissue.

3D printed ascending aortic simulators with physiological fidelity for surgical simulation

Introduction

Three-dimensional (3D) printed multimaterial ascending aortic simulators were created to evaluate the ability of polyjet technology to replicate the distensibility of human aortic tissue when perfused at physiological pressures.

Methods

Simulators were developed by computer-aided design and 3D printed with a Connex3 Objet500 printer. Two geometries were compared (straight tube and idealised aortic aneurysm) with two different material variants (TangoPlus pure elastic and TangoPlus with VeroWhite embedded fibres). Under physiological pressure, β Stiffness Index was calculated comparing stiffness between our simulators and human ascending aortas. The simulators’ material properties were verified by tensile testing to measure the stiffness and energy loss of the printed geometries and composition.

Results

The simulators’ geometry had no effect on measured β Stiffness Index (p>0.05); however, β Stiffness Index increased significantly in both geometries with the addition of embedded fibres (p<0.001). The simulators with rigid embedded fibres were significantly stiffer than average patient values (41.8±17.0, p<0.001); however, exhibited values that overlapped with the top quartile range of human tissue data suggesting embedding fibres can help replicate pathological human aortic tissue. Biaxial tensile testing showed that fiber-embedded models had significantly higher stiffness and energy loss as compared with models with only elastic material for both tubular and aneurysmal geometries (stiffness: p<0.001; energy loss: p<0.001). The geometry of the aortic simulator did not statistically affect the tensile tested stiffness or energy loss (stiffness: p=0.221; energy loss: p=0.713).

Conclusion

We developed dynamic ultrasound-compatible aortic simulators capable of reproducing distensibility of real aortas under physiological pressures. Using 3D printed composites, we are able to tune the stiffness of our simulators which allows us to better represent the stiffness variation seen in human tissue. These models are a step towards achieving better simulator fidelity and have the potential to be effective tools for surgical training.

Analytical Modeling of the Interaction Between Soft Balloon-Like Actuators and Soft Tubular Environment for Gastrointestinal Inspection

Accessing tubular environment is critical in medicine. For example, gastrointestinal tract related cancers are the leading causes of cancer deaths globally. To diagnose and treat these cancers, clinicians need accessing the gastrointestinal tract, for example, colon and small intestine, which are soft biological tubes. Soft balloon assisted locomotion is one of the promising methods for accessing bio-duct. It has been widely used in enteroscopy and other medical devices. However, the interaction between the balloon and the soft tube is seldom studied, such as the interaction pressure and the anchoring force. In this work, we present the first modeling of the interaction between soft balloon actuators and soft tubular environment. The free inflation model of soft balloon actuators was first presented. Then a constrained inflation model of the soft balloon in a soft tube was established. Finally, the anchoring force model between the soft balloon and the soft tube was developed. On average, the mean error of the predictions in these three models is 0.228 kPa (or 3.14%), 0.56 kPa (or 7.8%), and 0.22 N (or 14.7%), respectively. In the future, these models could be used for guiding balloon-actuator designs by minimizing the interaction pressure while maintaining sufficient anchoring force during the locomotion in soft tubes.

Mechanical Behaviour of Large Strain Capacitive Sensor with Barium Titanate Ecoflex Composite Used to Detect Human Motion

In this paper, the effect of strain rate on the output signal of highly stretchable interdigitated capacitive (IDC) strain sensors is studied. IDC sensors fabricated with pristine Ecoflex and a composite based on 40 wt% of 200 nm barium titanate (BTO) dispersed in a silicone elastomer (Ecoflex 00-30TM) were subjected to 1000 stretch and relax cycles to study the effect of dynamic loading conditions on the output signal of the IDC sensor. It was observed that the strain rate has no effect on the output signal of IDC sensor. To study the non-linear elastic behaviour of pristine Ecoflex and composites based on 10, 20, 30, 40 wt% of 200 nm BTO filler dispersed in a silicone elastomer, we conducted uniaxial tensile testing to failure at strain rates of ~5, ~50, and ~500 mm/min. An Ogden second-order model was used to fit the uniaxial tensile test data to understand the non-linearity in the stress-strain responses of BTO-Ecoflex composite at different strain rates. The decrease in Ogden parameters (α1 and α2) indicates the decrease in non-linearity of the stress-strain response of the composite with an increase in filler loading. Scanning electronic microscopy analysis was performed on the cryo-fractured pristine Ecoflex and 10, 20, 30, and 40 wt% of BTO-Ecoflex composites, where it was found that 200 nm BTO is more uniformly distributed in Ecoflex at a higher filler loading levels (40 wt% 200 nm BTO). Therefore, an IDC sensor was fabricated based on a 40 wt% 200 nm BTO-Ecoflex composite and mounted on an elastic elbow sleeve with supporting electronics, and successfully functioned as a reliable and robust flexible sensor, demonstrating an application to measure the bending angle of an elbow at slow and fast movement of the arm. A linear relationship with respect to the elbow bending angle was observed between the IDC sensor output signal under a 50% strain and the deflection of the elbow of hand indicating its potential as a stretchable, flexible, and wearable sensor.

Soft implantable drug delivery device integrated wirelessly with wearable devices to treat fatal seizures

Personalized biomedical devices have enormous potential to solve clinical challenges in urgent medical situations. Despite this potential, a device for in situ treatment of fatal seizures using pharmaceutical methods has not been developed yet. Here, we present a novel treatment system for neurological medical emergencies, such as status epilepticus, a fatal epileptic condition that requires immediate treatment, using a soft implantable drug delivery device (SID). The SID is integrated wirelessly with wearable devices for monitoring electroencephalography signals and triggering subcutaneous drug release through wireless voltage induction. Because of the wireless integration, bulky rigid components such as sensors, batteries, and electronic circuits can be moved from the SID to wearables, and thus, the mechanical softness and miniaturization of the SID are achieved. The efficacy of the prompt treatment could be demonstrated with animal experiments in vivo, in which brain damages were reduced and survival rates were increased.

Remotely Light-Powered Soft Fluidic Actuators Based on Plasmonic-Driven Phase Transitions in Elastic Constraint

Materials capable of actuation through remote stimuli are crucial for untethering soft robotic systems from hardware for powering and control. Fluidic actuation is one of the most applied and versatile actuation strategies in soft robotics. Here, the first macroscale soft fluidic actuator is derived that operates remotely powered and controlled by light through a plasmonically induced phase transition in an elastomeric constraint. A multiphase assembly of a liquid layer of concentrated gold nanoparticles in a silicone or styrene-ethylene-butylene-styrene elastic pocket forms the actuator. Upon laser excitation, the nanoparticles convert light of specific wavelength into heat and initiate a liquid-to-gas phase transition. The related pressure increase inflates the elastomers in response to laser wavelength, intensity, direction, and on-off pulses. During laser-off periods, heating halts and condensation of the gas phase renders the actuation reversible. The versatile multiphase materials actuate-like soft "steam engines"-a variety of soft robotic structures (soft valve, pnue-net structure, crawling robot, pump) and are capable of operating in different environments (air, water, biological tissue) in a single configuration. Tailored toward the near-infrared window of biological tissue, the structures actuate also through animal tissue for potential medical soft robotic applications.