Name: Origami Inspired Self-assembly of Patterned and Reconfigurable Particles (Video) | JoVE Journal
Uploaded: 2013-02-04T09:53:00.000+00:00
Duration: 12 min 33 s
Description: Learn origami-inspired self-assembly to fabricate patterned and reconfigurable particles from 2D precursors using photolithography and thin-film deposition. This method enables precise creation of micro grippers and polyhedra for biomedical applications.

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We acknowledge funding from the NSF through grants CMMI 0854881 and CBET 1066898. The authors thank Matthew Mullens for helpful suggestions.

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</ol>

No conflicts of interest declared.

Our origami-inspired assembly process is versatile and can be used for synthesizing a variety of 3D static and reconfigurable particles with a wide range of materials, shapes and sizes. Further, the ability to precisely pattern sensors and electronic modules on these particles is important for optics and electronics. In contrast to patchy particles formed by alternate methods, where patterns are relatively imprecise, this methodology provides a means to synthesize precisely patterned particles. In surface tension based assembly, the use of liquefying sealing hinges ensures that the particles are well sealed and mechanically rigid after assembly (on cooling). Previously, we have observed that the seams are leak-proof even for small molecules39,40. Electrodeposition of a thin layer of Au after assembly can provide additional strength and enhance the leak proof nature of the seams. The thin film stress based folding is useful for applications in which stimuli responsive folding is required such as in microgrippers that have been used to perform in vitro and in vivo biological sampling and in pick-and-place operations in robotics. While the specific methodology described here can be used to create reconfigurable microgrippers that only close once, the appropriate choice of materials and methods to manipulate stress in bilayers can be utilized to also create grasping devices that can be reconfigured over multiple-cycles37, 41. The highlight of the use of residual stress to power these devices is that they do not require any tethers or wires and so have excellent maneuverability to enable actuation in hard to reach places. Further, by an appropriate choice of polymeric triggers, stimuli responsive behavior can be enabled with a range of stimuli including enzymes42 to enable autonomous function of relevance to robotics and surgery.

<table><tbody><tr><td>950 Poly methyl methacrylate A11 </td><td>Micro Chem</td><td>M230011</td><td>Sacrificial layer</td></tr><tr><td>Chromium-plated tungsten rods</td><td>R. D. Mathis Company</td><td>CRW-2</td><td>Evaporation source for Cr</td></tr><tr><td>Copper slug</td><td>Alfa Aesar</td><td>7440-50-8</td><td>Evaporation source for Cu</td></tr><tr><td>Gold slug</td><td>Alfa Aesar</td><td>7440-57-5</td><td>Evaporation source for Au</td></tr><tr><td>SPR 220 7.0</td><td>Rohm and Haas</td><td>10016640</td><td>Positive photoresist </td></tr><tr><td>S 1800 series photoresists</td><td>Rohm and Hass</td><td></td><td>Positive photoresist </td></tr><tr><td>Megaposit MF- 26 A developer </td><td>Rohm and Haas</td><td>10016574</td><td>Developer for SPR 220 7.0 photoresist</td></tr><tr><td>Microposit 351 developer</td><td>Rohm and Hass</td><td>10016653</td><td>Developer for S 1800 series photoresists</td></tr><tr><td>Nickel Sulfamate</td><td>Technic Inc.</td><td>030175</td><td>Plating solution for Ni</td></tr><tr><td>Techni Solder Mate NF 820 60/40 RTU</td><td>Technic Inc.</td><td>330681</td><td>Plating solution for Pb-Sn hinges</td></tr><tr><td>APS 100 Copper etchant </td><td>Transene Company Inc.</td><td>021221</td><td>Copper etchant </td></tr><tr><td>CRE 473 Chromium etchant </td><td>Transene Company Inc.</td><td>040901</td><td>Chromium etchant</td></tr><tr><td>1-Methyl-2-Pyrollidinone (NMP)</td><td>Sigma-Aldrich</td><td>M79603</td><td>High boiling point organic solvent for Pb-Sn hinge based self-folding </td></tr><tr><td>Indalloy 5RMA flux</td><td>Indium Corporation of America</td><td>FL28372</td><td>Chemical that cleans the solder surface and inhibits oxidation for good Pb-Sn reflow</td></tr></tbody></table>

origami inspired self-assembly of patterned and reconfigurable particles

Origami Inspired Self-assembly of Patterned and Reconfigurable Particles

There are numerous techniques such as photolithography, electron-beam lithography and soft-lithography that can be used to precisely pattern two dimensional (2D) structures. These technologies are mature, offer high precision and many of them can be implemented in a high-throughput manner. We leverage the advantages of planar lithography and combine them with self-folding methods1-20 wherein physical forces derived from surface tension or residual stress, are used to curve or fold planar structures into three dimensional (3D) structures. In doing so, we make it possible to mass produce precisely patterned static and reconfigurable particles that are challenging to synthesize.
In this paper, we detail visualized experimental protocols to create patterned particles, notably, (a) permanently bonded, hollow, polyhedra that self-assemble and self-seal due to the minimization of surface energy of liquefied hinges21-23 and (b) grippers that self-fold due to residual stress powered hinges24,25. The specific protocol described can be used to create particles with overall sizes ranging from the micrometer to the centimeter length scales. Further, arbitrary patterns can be defined on the surfaces of the particles of importance in colloidal science, electronics, optics and medicine. More generally, the concept of self-assembling mechanically rigid particles with self-sealing hinges is applicable, with some process modifications, to the creation of particles at even smaller, 100 nm length scales22, 26 and with a range of materials including metals21, semiconductors9 and polymers27. With respect to residual stress powered actuation of reconfigurable grasping devices, our specific protocol utilizes chromium hinges of relevance to devices with sizes ranging from 100 &mu;m to 2.5 mm. However, more generally, the concept of such tether-free residual stress powered actuation can be used with alternate high-stress materials such as heteroepitaxially deposited semiconductor films5,7 to possibly create even smaller nanoscale grasping devices.

We describe experimental details of the synthesis of patterned and reconfigurable particles from two dimensional (2D) precursors. This methodology can be used to create particles in a variety of shapes including polyhedra and grasping devices at length scales ranging from the micro to centimeter scale.

There are numerous techniques such as photolithography, electron-beam lithography and soft-lithography that can be used to precisely pattern two ...

This protocol synthesizes precisely patterned static and reconfigurable particles of different shapes and sizes. First, design masks for the two dimensional net that will eventually self-assemble to the desired patterned particles. Then deposit the sacrificial and conducting layers onto a flat substrate.Fabricate the 2D precursors by patterning panels and hinges using photolithography thin film deposition, and etching then dissolve the sacrificial layer to release the 2D precursors from the substrate. Ultimately, the released 2D precursors are exposed to specific stimuli to trigger folding of the particles ranging from the micrometer to the centimeter scale. The implications of this technique extend towards the creation of miniaturized smart particles, including those that can do biopsies in hard to reach places in the body.Further, the method can be used with metals, semiconductors, and even polymers so that we can create capsules that could be important in drug delivery, especially since we can create them in nons, spherical and multifunctional geometries. The main advantage of this technique over existing methods like emotion, polymerization, or molding of particles, is that this method transform the accuracy and precision of plenary lithography into three dimensional patterning of particles with different shapes and sizes. Visual demonstration of this method is critical as the patterning and self folding steps are difficult to learn because they require both lithography and self-assembly skills.In this demonstration, we will fabricate static, permanently sealed 300 micron sized Dora, as well as reconfigurable thermo sensitive micro grippers. Start with a two dimensional vector graphic software program. First, determine the number of panels in the polyhedra.Proceed to figure out the high yielding two dimensional arrangement of panels, also called nets. Nets that have the lowest red sub generation and the greatest number of secondary vertex connections will typically assemble with the highest tails For the panel mask, draw the panels of the polyhedra as nets space, the adjacent panels by a gap width. Then insert registry mark for subsequent alignment with the hinge mask.Now for the hinge mask, define the folding hinges in between the panels. Also define the ceiling hinges at the edges of the panels. Then verify that the panel and hinge masks overlay with registry Ceiling hinges provide considerable error tolerance during cell folding.Now, print the masks on transparency films using a high resolution printer. Begin the substrate preparation with a flat substrate. Clean the silicon wafers with methanol, acetone, and isopropyl alcohol.Then dry them with nitrogen gas and heat at 150 degrees Celsius for five to 10 minutes. On the silicon wafers spin coat, a 5.5 micron thick layer of 950 P-M-M-A-A 11 at 1, 100 RPM. After three minutes, bake the substrate at 180 degrees Celsius for 60 seconds.Using a thermal evaporator deposit, an adhesion promoter of 30 nanometers of chromium and the conducting layer of 150 nanometers of copper. Then add a spin coat of approximately 10 microns thick SPR 220 at 1, 700 RPM set aside for three minutes. Now expose the wafers to the panel mask using approximately 460 millijoules per squared centimeter of UV light and a mercury based mask aligner.Develop in MF 26 developer for two minutes, replenish the developer solution and develop for another two minutes. Proceed to calculate the total panel area and compute the current required to electrode deposit nickel from a commercial nickel sulfate solution. Then dip the wafer in the nickel electroplating solution.Repeat the spin coating and alignment steps for the hinge mask. Now dice the wafer into small pieces that contain 50 to 60 nets. Coat the edges of the pieces with nail polish.Next, calculate the total exposed hinge area and use it to compute the current required to electrode deposit lead tin solder from a commercial solder plating solution. Then dip the wafer into the solder plating solution. Dissolve the photo resist in acetone.Rinse the wafer pieces with IPA and dry with nitrogen gas immerse wafer piece in etching a PS 100 for 25 to 40 seconds to dissolve the surrounding copper layer. Rinse with distilled water and dry with nitrogen gas. Now immerse the wafer piece in etching CRE 473 for 30 to 50 seconds to dissolve the surrounding chromium layer.Then rinse with distilled water and dry with nitrogen gas. Finally, immerse the wafer piece in two to three milliliters of NMP and heat at 100 degrees Celsius for three to five minutes until the templates are released from the substrate. Transfer 10 to 20 templates into a small Petri dish and distribute them uniformly.Then add approximately three to five milliliters of NMP and five to seven drops of in Delo five RMA liquid flux heat at 100 degrees Celsius for five minutes. The flux cleans and dissolves any oxide layer formed on the saer and thereby ensures good solder reflow on heating. Increase the hot plate temperature to 150 degrees Celsius for five minutes.Slowly increase to 200 degrees Celsius until folding occurs after the dish has cooled, rinse the dodecahedral twice in acetone and once in ethanol store the dodecahedral particles in ethanol for reconfigurable structures with metallic sacrificial layer, immerse the wafer piece in a PS 100 to etch the underlying copper sacrificial layer. Wait until the micro grippers are completely released from the substrate. Rinse the released micro grippers with deionized water and keep them in cold water.Then trigger the folding by placing the micro grippers in 37 degrees Celsius water. The general protocol described in the manuscript can be used to fabricate pattern sealed particles and reconfigurable grasping devices. Also included our specific visualized examples for both fabrication of sealed toral particles and reconfigurable micro grips.As a general rule, at least two mask sets are needed, one for rigid panels that do not bend or curve, and the other for hinge regions that bend curve or seal. This pattern uses the mask design rules for a self folding micro gripper. AutoCAD program is used to design the masks of the 2D precursors.The 2D precursors are then fabricated a silicon substrate as seen in these optical images of dedra and micro grippers. This realization shows self-assembly of a Dedra particle as prepared in the protocol detailed. In this article here, the micro grippers are induced by heat to self fold at 37 degrees Celsius.Here the images depict assembly of a thin film, stress driven folding of a micro gripper around a bead self-assembled polyhedral particles can be created in a variety of shapes as well as folding micro grippers. This conceptual animation by David Fallac shows surface tension driven assembly of a cubic particle. First, the silicon wafer and photo mask are aligned precisely.Then the wafers are exposed to the panel mask using approximately 460 millijoules per squared centimeter of UV light and a mercury based mask aligner to induce folding of the cube. The temperature is raised to the melting point of the hinge material, causing the liquid hinges to ball up to minimize exposed surface area. The edges fuse to minimize their surface energy and seal the particles, thus forming a complete polyhedral particle.The fabrication and actuation process is highly parallel, and 3D structures can be fabricated and triggered simultaneously. Additionally, precise patterns as exemplified by square or triangular pores can be defined all three dimensions and on selected faces if needed. Self folding micro grippers can be closed under biologically benign conditions so that they can be used to excise tissue or they can be loaded with biological cargo.This example shows bladder tissue extraction using thermo sensitive micro grippers. Additionally, since the micro grippers can be made with nickel a ferromagnetic material, they can be moved from afar using magnetic fields. After watching this video, you should have a good understanding of how to utilize origami inspired approaches to synthesize precisely patterned and reconfigurable particles in a variety of sizes, shapes, surface patterns, and stimulate responsive reconfigurability.Remember to follow the governing design rules for the self-assembly of the particles and to understand the working principle of the process. It is very important to choose the right materials for the sacrificial layer panels and hinges. For example, you should not choose a sacrificial layer requiring high dissolution temperature if your trigger layer dissolves at these high temperatures After its development.This technique paved the way for researchers in the fields of micro and nanotechnology to explore the development and applications of precisely patterned polyhedra and reconfigurable particles in electronics, optics, and medicine.

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Research

JoVE Journal

Chemistry

This paper describes the formation of highly ordered peptide-based structures by the spontaneous process of self-assembly. The method utilizes commercially available peptides and common lab equipment. This technique can be applied to a large variety of peptides and may lead to the discovery of new peptide-based assemblies.

Formation of Ordered Biomolecular Structures by the Self-assembly of Short Peptides

DNA origami is a powerful method for fabricating precise nanoscale objects by programming the self-assembly of DNA molecules. Here we describe a protocol for the folding of a bio-responsive robot from DNA origami, its purification and negative staining for transmission electron microscopic imaging (TEM).

Folding and Characterization of a Bio-responsive Robot from DNA Origami

DNA tiling is an effective approach to make programmable nanostructures. We describe the protocols to construct complex two-dimensional shapes by the self-assembly of single-stranded DNA tiles.

Self-assembly of Complex Two-dimensional Shapes from Single-stranded DNA Tiles

We use 3D printing to fabricate anisotropic particles in the shapes of jacks, crosses, tetrads, and triads, whose alignments and rotations in turbulent fluid flow can be measured from multiple simultaneous video images.

Methods for Measuring the Orientation and Rotation Rate of 3D-printed Particles in Turbulence

We demonstrate the use of patterned aerosol adhesives to construct 3D paper microfluidic devices. This method of adhesive application forms semi-permanent bonds between layers, enabling single-use devices to be non-destructively disassembled after use and to ease folding complex nonplanar structures.

Using Adhesive Patterning to Construct 3D Paper Microfluidic Devices

This manuscript presents an injection molding method to engineer microvessels that recapitulate physiological properties of endothelium. The microfluidic-based process creates patent 3D vascular networks with tailorable conditions, such as flow, cellular composition, geometry, and biochemical gradients. The fabrication process and examples of potential applications are described.

Micropatterning and Assembly of 3D Microvessels 

Here, we present a protocol to prepare and visualize secondary structures (e.g., fibers, toroidal architectures, and nano-spheres) derived from helical polycarbodiimides. The morphology characterized by both atomic force microscopy (AFM) and scanning electron microscopy (SEM) was shown to depend on molecular structure, concentration, and the solvent of choice.

Self-assembling Morphologies Obtained from Helical Polycarbodiimide Copolymers and Their Triazole Derivatives

Here, we present a protocol for fabrication of 3D graphene-based polyhedrons via origami-like self-folding.

Fabrication of Three-Dimensional Graphene-Based Polyhedrons via Origami-Like Self-Folding

A protocol is presented for the synthesis of information-encoded peptoid oligomers and for the sequence-directed self-assembly of these peptoids into molecular ladders using amines and aldehydes as dynamic covalent reactant pairs and Lewis acidic rare-earth metal triflates as multi-role reagents.

Synthesis of Information-bearing Peptoids and their Sequence-directed Dynamic Covalent Self-assembly

We present a technology that uses capillarity-assisted assembly in a microfluidic platform to pattern micro-sized objects suspended in a liquid, such as bacteria and colloids, into prescribed arrays on a polydimethylsiloxane substrate.

Patterning of Microorganisms and Microparticles through Sequential Capillarity-assisted Assembly

This article presents a protocol for the formation of microtubule assemblies in the shape of tactoids using MAP65, a plant-based microtubule crosslinker, and PEG as a crowding agent.

Self-Assembly of Microtubule Tactoids

Learn origami-inspired self-assembly to fabricate patterned and reconfigurable particles from 2D precursors using photolithography and thin-film deposition. This method enables precise creation of micro grippers and polyhedra for biomedical applications.

Origami Inspired Self-assembly of Patterned and Reconfigurable Particles

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