Summary

刺激响应水凝胶软机器人的四维打印

Published: January 13, 2023
doi:

Summary

这份手稿描述了一种4D打印策略,用于制造智能刺激响应软机器人。这种方法可以为促进智能形状可变形软机器人系统的实现提供基础,包括智能机械手、电子和医疗保健系统。

Abstract

本协议描述了使用三维(3D)生物打印方法创建四维(4D),时间依赖性,形状可变,刺激响应软机器人。最近,4D打印技术被广泛提出作为开发形状可变形软机器人的创新新方法。特别是,4D随时间变化的形状转换是软机器人中的一个重要因素,因为它允许在由外部线索(如热,pH和光)触发时在正确的时间和地点发生有效的功能。根据这一观点,可以打印刺激响应材料,包括水凝胶、聚合物和杂化材料,以实现智能形状可变形的软机器人系统。目前的协议可用于制造由 N-异丙基丙烯酰胺(NIPAM)基水凝胶组成的热响应软夹具,整体尺寸从毫米到厘米不等。预计本研究将为智能机械手(如抓手、执行器和拾取和放置机)、医疗保健系统(如药物胶囊、活检工具和显微手术)和电子(如可穿戴传感器和流体)等各种应用的智能软机器人系统提供新的方向。

Introduction

从技术和智力的角度来看,刺激响应软机器人的开发都很重要。术语刺激响应软机器人通常是指由水凝胶、聚合物、弹性体或混合体组成的设备/系统,这些设备/系统响应外部线索(如热量、pH 值和光)而表现出形状变化1234在众多刺激响应软机器人中,基于N-异丙基丙烯酰胺(NIPAM)水凝胶的软机器人使用自发形状转换5678执行所需的任务或相互作用。通常,基于NIPAM的水凝胶表现出低临界溶液温度(LCST),并且在32°C和36°C之间的生理温度附近的水凝胶系统内发生溶胀(亲水性低于LCST)和脱胀(疏水性高于LCST)性能变化910。LCST尖锐临界过渡点附近的这种可逆溶胀机制可以产生基于NIPAM的水凝胶软机器人2的形状转变。因此,基于热响应NIPAM的水凝胶软机器人具有改进的操作,例如行走,抓取,爬行和传感,这在多功能机械手,医疗保健系统和智能传感器中非常重要23411,12,13,14,15,16,17 18,192021.

在制造刺激响应软机器人时,三维(3D)打印方法已广泛使用,使用直接逐层加法工艺22。各种材料,如塑料和软水凝胶,可以用3D打印2324打印。最近,4D打印被广泛强调为一种用于创建形状可编程软机器人25,262728的创新技术。这种4D打印基于3D打印,4D打印的关键特征是3D结构可以随着时间的推移改变其形状和属性。4D打印和刺激响应水凝胶的结合提供了另一种创新途径,以创建智能3D设备,当暴露于适当的外部刺激触发器(如热,pH,光以及磁场和电场)时,这些设备会随着时间的推移而改变形状25262728.这种使用各种刺激响应水凝胶的4D打印技术的发展为形状可变形的软机器人的出现提供了机会,这些机器人具有更高的响应速度和反馈灵敏度,可以显示多功能性。

本研究描述了3D打印驱动的热响应软夹持器的创建,该夹具显示形状转换和运动。值得注意的是,所描述的特定程序可用于制造各种多功能软机器人,其整体尺寸范围从毫米到厘米长度尺度。最后,预计该协议可以应用于多个领域,包括软机器人(例如,智能执行器和运动机器人),柔性电子(例如,光电传感器和芯片实验室)和医疗保健系统(例如,药物输送胶囊,活检工具和手术设备)。

Protocol

刺激响应软夹具由三种不同类型的水凝胶组成:非刺激响应丙烯酰胺(AAm)基水凝胶,热响应N-异丙基丙烯酰胺(NIPAM)基水凝胶和 磁性响应铁凝胶(图1)。这三种水凝胶油墨是通过修改先前发表的方法29、30、31制备的。本研究中提供的数据可应通讯作者的要求获得。 1. ?…

Representative Results

在设计热响应软夹具时主要考虑基于NIPAM的水凝胶,因为它具有锋利的LCST,这使其表现出显着的溶胀性能9,10。此外,基于AAm的水凝胶被认为是一种非刺激响应系统,以最大限度地提高软混合夹具的形状转换,同时减少多次加热和冷却过程中界面的分层。此外,铁凝胶被集成到该混合系统中,以创建磁场响应的软混合夹具,用于磁场驱动的运动的不受?…

Discussion

在软混合夹持器的材料选择方面,首先制备了由非刺激响应AAm基水凝胶、热响应NIPAM基水凝胶和磁响应铁凝胶组成的多响应材料体系,使软混合夹持器表现出可编程的运动和形状转换。由于其热响应溶胀-溶胀特性,基于NIPAM的水凝胶在用具有不同溶胀特性的水凝胶(例如AAm基水凝胶1)制造为双层或双条结构时表现出弯曲,折叠或起皱。此外,水凝胶可以通过嵌入氧化铁(Fe2</…

Disclosures

The authors have nothing to disclose.

Acknowledgements

作者非常感谢韩国政府(MSIT)资助的韩国国家研究基金会(NRF)资助的支持(No.2022R1F1A1074266)。

Materials

2-Hydroxy-4'-(2-hydroxyethoxy)-2-methylpropiophenone Sigma Aldrich 410896-50G Irgacure 2959, photoinitiator
3D WOX 2X sindoh n/a 3D printer for fabricating a maze
Acrylamide Sigma-Aldrich 29-007 ≥99%
Airbrush compressor WilTec AF18-2
Ammonium persulfate Sigma Aldrich A4418
Auto CAD Autodesk n/a software for computer-aided-design file
BLX UV crosslinker BIO-LINK U01-133-565
Cartridge CELLINK CSC010300102
Digital stirring Hot Plates Corning 6798-420D
Fluorescein O-methacrylate Sigma Aldrich 568864 dye of AAm gel
INKREDIBLE+ bioprinter CELLINK n/a
Iron(III) Oxide red DUKSAN general science I0231
Laponite RD BYK n/a nanoclay
Microcentrifuge tube SPL 60615
Micro stirrer bar Cowie 27-00360-08 Φ3×Equation 1
N, N, N', N'-tetramethylethylenediamine Sigma Aldrich T7024-100ML
N, N'-methylenebisacrylamide Sigma Aldrich M7279 ≥99.5%
N-isopropylacrylamide Sigma-Aldrich 415324-50G
Poly(N-isopropylacrylamide) Sigma-Aldrich 535311
Rhodamine 6G Sigma Aldrich R4127 dye of NIPAM gel
Slic3r software (v1.2.9) Slic3r n/a open-source software to convert .stl file to gcode
Sodium hydroxide beads Sigma Aldrich S5881
Sterile high-precision conical bioprinting nozzles CELLINK NZ3270005001 22 G, 25 G
Syringe Korea vaccine K07415389 10 CC 21 G (1-1/4 INCH)
Vortex mixer DAIHAN DH.WVM00030

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Cite This Article
Lee, Y., Choi, J., Choi, Y., Park, S. M., Yoon, C. Four-Dimensional Printing of Stimuli-Responsive Hydrogel-Based Soft Robots. J. Vis. Exp. (191), e64870, doi:10.3791/64870 (2023).

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