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 language | English (US) |
|---|---|
| Article number | 8607112 |
| Pages (from-to) | 883-888 |
| Number of pages | 6 |
| Journal | IEEE/ASME Transactions on Mechatronics |
| Volume | 24 |
| Issue number | 2 |
| DOIs | |
| State | Published - Apr 1 2019 |
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Keywords
- Actuators
- magnetic resonance imaging
- surgery
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Science Applications
- Electrical and Electronic Engineering
Cite this
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 journal › Article
}
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 -