MR-Conditional SMA-Based Origami Joint

Austin J. Taylor, Trent Slutzky, Leah Feuerman, Hongliang Ren, Junichi Tokuda, Kent R Nilsson, Zion Tsz Ho Tse

Research output: Contribution to journalArticle

Abstract

Foldable origami structures have been implemented into robotics as a way of compacting joints and circuitry into smaller structures. This technique is especially useful in minimally invasive surgical instruments, where the goal is to create slimline devices that can be inserted through small incisions. Origami also has the potential to cut costs by reducing the amount of material required for assembly. Origami devices are especially suitable for magnetic resonance imaging (MRI)-guided procedures, where instruments must be nonmagnetic because origami is more suitable for flexible, nonmetallic materials. MR conditional surgical instruments enable intraoperative MRI procedures that provide superior imaging capabilities to physicians to allow for safer procedures. This work presents an MR conditional joint developed using origami techniques that reduces costs by eliminating assembly of various components and has potential applications in endoscopy. The joint is a compliant rolling-contact element that employs curved-folding origami techniques. A chain of these joints can be constructed from a single sheet of material, eliminating assembly of numerous materials to produce a final product, which is specifically advantageous for constructing low-cost, disposable surgical devices. The prototype contains a degree of bending of ±9° per joint and an actuation force of 0.5 N using a 1.25 A current. The MRI results showed a minimal artifact of less than 1 mm measured from the boundary of the joint chain and a signal-to-noise ratio reduction of less than 10%.

Original languageEnglish (US)
Article number8607112
Pages (from-to)883-888
Number of pages6
JournalIEEE/ASME Transactions on Mechatronics
Volume24
Issue number2
DOIs
StatePublished - Apr 1 2019

Fingerprint

Magnetic resonance
Imaging techniques
Nonmetallic materials
Costs
Endoscopy
Signal to noise ratio
Robotics

Keywords

  • Actuators
  • magnetic resonance imaging
  • surgery

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Taylor, A. J., Slutzky, T., Feuerman, L., Ren, H., Tokuda, J., Nilsson, K. R., & Tse, Z. T. H. (2019). MR-Conditional SMA-Based Origami Joint. IEEE/ASME Transactions on Mechatronics, 24(2), 883-888. [8607112]. https://doi.org/10.1109/TMECH.2019.2891993

MR-Conditional SMA-Based Origami Joint. / Taylor, Austin J.; Slutzky, Trent; Feuerman, Leah; Ren, Hongliang; Tokuda, Junichi; Nilsson, Kent R; Tse, Zion Tsz Ho.

In: IEEE/ASME Transactions on Mechatronics, Vol. 24, No. 2, 8607112, 01.04.2019, p. 883-888.

Research output: Contribution to journalArticle

Taylor, AJ, Slutzky, T, Feuerman, L, Ren, H, Tokuda, J, Nilsson, KR & Tse, ZTH 2019, 'MR-Conditional SMA-Based Origami Joint', IEEE/ASME Transactions on Mechatronics, vol. 24, no. 2, 8607112, pp. 883-888. https://doi.org/10.1109/TMECH.2019.2891993
Taylor AJ, Slutzky T, Feuerman L, Ren H, Tokuda J, Nilsson KR et al. MR-Conditional SMA-Based Origami Joint. IEEE/ASME Transactions on Mechatronics. 2019 Apr 1;24(2):883-888. 8607112. https://doi.org/10.1109/TMECH.2019.2891993
Taylor, Austin J. ; Slutzky, Trent ; Feuerman, Leah ; Ren, Hongliang ; Tokuda, Junichi ; Nilsson, Kent R ; Tse, Zion Tsz Ho. / MR-Conditional SMA-Based Origami Joint. In: IEEE/ASME Transactions on Mechatronics. 2019 ; Vol. 24, No. 2. pp. 883-888.
@article{ec67a964630d44abb7c71bfee9a24022,
title = "MR-Conditional SMA-Based Origami Joint",
abstract = "Foldable origami structures have been implemented into robotics as a way of compacting joints and circuitry into smaller structures. This technique is especially useful in minimally invasive surgical instruments, where the goal is to create slimline devices that can be inserted through small incisions. Origami also has the potential to cut costs by reducing the amount of material required for assembly. Origami devices are especially suitable for magnetic resonance imaging (MRI)-guided procedures, where instruments must be nonmagnetic because origami is more suitable for flexible, nonmetallic materials. MR conditional surgical instruments enable intraoperative MRI procedures that provide superior imaging capabilities to physicians to allow for safer procedures. This work presents an MR conditional joint developed using origami techniques that reduces costs by eliminating assembly of various components and has potential applications in endoscopy. The joint is a compliant rolling-contact element that employs curved-folding origami techniques. A chain of these joints can be constructed from a single sheet of material, eliminating assembly of numerous materials to produce a final product, which is specifically advantageous for constructing low-cost, disposable surgical devices. The prototype contains a degree of bending of ±9° per joint and an actuation force of 0.5 N using a 1.25 A current. The MRI results showed a minimal artifact of less than 1 mm measured from the boundary of the joint chain and a signal-to-noise ratio reduction of less than 10{\%}.",
keywords = "Actuators, magnetic resonance imaging, surgery",
author = "Taylor, {Austin J.} and Trent Slutzky and Leah Feuerman and Hongliang Ren and Junichi Tokuda and Nilsson, {Kent R} and Tse, {Zion Tsz Ho}",
year = "2019",
month = "4",
day = "1",
doi = "10.1109/TMECH.2019.2891993",
language = "English (US)",
volume = "24",
pages = "883--888",
journal = "IEEE/ASME Transactions on Mechatronics",
issn = "1083-4435",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "2",

}

TY - JOUR

T1 - MR-Conditional SMA-Based Origami Joint

AU - Taylor, Austin J.

AU - Slutzky, Trent

AU - Feuerman, Leah

AU - Ren, Hongliang

AU - Tokuda, Junichi

AU - Nilsson, Kent R

AU - Tse, Zion Tsz Ho

PY - 2019/4/1

Y1 - 2019/4/1

N2 - Foldable origami structures have been implemented into robotics as a way of compacting joints and circuitry into smaller structures. This technique is especially useful in minimally invasive surgical instruments, where the goal is to create slimline devices that can be inserted through small incisions. Origami also has the potential to cut costs by reducing the amount of material required for assembly. Origami devices are especially suitable for magnetic resonance imaging (MRI)-guided procedures, where instruments must be nonmagnetic because origami is more suitable for flexible, nonmetallic materials. MR conditional surgical instruments enable intraoperative MRI procedures that provide superior imaging capabilities to physicians to allow for safer procedures. This work presents an MR conditional joint developed using origami techniques that reduces costs by eliminating assembly of various components and has potential applications in endoscopy. The joint is a compliant rolling-contact element that employs curved-folding origami techniques. A chain of these joints can be constructed from a single sheet of material, eliminating assembly of numerous materials to produce a final product, which is specifically advantageous for constructing low-cost, disposable surgical devices. The prototype contains a degree of bending of ±9° per joint and an actuation force of 0.5 N using a 1.25 A current. The MRI results showed a minimal artifact of less than 1 mm measured from the boundary of the joint chain and a signal-to-noise ratio reduction of less than 10%.

AB - Foldable origami structures have been implemented into robotics as a way of compacting joints and circuitry into smaller structures. This technique is especially useful in minimally invasive surgical instruments, where the goal is to create slimline devices that can be inserted through small incisions. Origami also has the potential to cut costs by reducing the amount of material required for assembly. Origami devices are especially suitable for magnetic resonance imaging (MRI)-guided procedures, where instruments must be nonmagnetic because origami is more suitable for flexible, nonmetallic materials. MR conditional surgical instruments enable intraoperative MRI procedures that provide superior imaging capabilities to physicians to allow for safer procedures. This work presents an MR conditional joint developed using origami techniques that reduces costs by eliminating assembly of various components and has potential applications in endoscopy. The joint is a compliant rolling-contact element that employs curved-folding origami techniques. A chain of these joints can be constructed from a single sheet of material, eliminating assembly of numerous materials to produce a final product, which is specifically advantageous for constructing low-cost, disposable surgical devices. The prototype contains a degree of bending of ±9° per joint and an actuation force of 0.5 N using a 1.25 A current. The MRI results showed a minimal artifact of less than 1 mm measured from the boundary of the joint chain and a signal-to-noise ratio reduction of less than 10%.

KW - Actuators

KW - magnetic resonance imaging

KW - surgery

UR - http://www.scopus.com/inward/record.url?scp=85064667688&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85064667688&partnerID=8YFLogxK

U2 - 10.1109/TMECH.2019.2891993

DO - 10.1109/TMECH.2019.2891993

M3 - Article

AN - SCOPUS:85064667688

VL - 24

SP - 883

EP - 888

JO - IEEE/ASME Transactions on Mechatronics

JF - IEEE/ASME Transactions on Mechatronics

SN - 1083-4435

IS - 2

M1 - 8607112

ER -