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Magnetically Actuated Origami Structures for Untethered Optical Steering in Remote Set-up: Preliminary Designs and Characterisations

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Deployable Multimodal Machine Intelligence

Part of the book series: Lecture Notes in Bioengineering ((LNBE))

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Abstract

Minimally invasive surgical procedures (MIS) are conducted in highly confined environments, through small incisions to introduce instruments into the body. Curating devices made for MIS is challenging, as high precision and accuracy are required. Optical module steering is like the ‘eyes’ overseeing the procedure. Here, this work explores various magnetically actuated origami structures, aiming to improve the foldability, degrees of freedom and workspace of optic steering. These origami structures are initially compact and can be deployed into various shapes and sizes. The structures are integrated with magnets to maximize the potential of their origami folds. The magnetically actuated origami structures promote an untethered control of these structures in restricted environments, reducing the invasiveness of the structures. Magnetically actuated structure panning and tilting, indirectly steering the laser beam pathway. The computational control of magnetic flux to actuate the structures also further enhances its beam steering capabilities, improving accuracy and precision. Henceforth, based on the conducted experiments, these origami structures have shown a positive outlook.

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Abbreviations

DC:

Direct Current

DOF:

Degrees Of Freedom

EM:

Electromagnet

ePM:

External Permanent Magnets

iPM:

Internal Permanent Magnets

LED:

Light Emitting Diode

MAE:

Maximum Absolute Error

MIS:

Minimally Invasive Surgeries

Nd:

Neodymium

PM:

Permanent Magnets

RMSE:

Root Mean Square Error

RMSE:

\(\sqrt{\frac{{\sum }_{i=0}^{n}{({P}_{i}-{O}_{i})}^{2}}{n},}\) Pi = Predictedi, Oi = Observedi, n = Number of Data Points

% Stability:

\(\frac{Deflection}{Initial\, Height\, from \,Surface }*100\)

% Reversibility:

\(\% Reversibility= \frac{Final \,Diameter- {Diameter}_{State}}{{Diameter}_{State}-Initial\, Diameter}*100\)

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Authors and Affiliations

  1. Department of Biomedical Engineering, National University of Singapore, Singapore, Singapore

    Lydia Si Jia Ong & Hongliang Ren

  2. Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong, China

    Lydia Si Jia Ong & Hongliang Ren

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  1. Lydia Si Jia Ong
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Correspondence to Hongliang Ren .

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Appendices: Background Survey on Optical Component Steering Devices

Appendices: Background Survey on Optical Component Steering Devices

See Tables 12.S1 and 12.S2.

Table 12.S1 Survey on laparoscopic camera
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Table 12.S2 Survey on laser-assisted devices
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Ong, L.S.J., Ren, H. (2023). Magnetically Actuated Origami Structures for Untethered Optical Steering in Remote Set-up: Preliminary Designs and Characterisations. In: Deployable Multimodal Machine Intelligence. Lecture Notes in Bioengineering. Springer, Singapore. https://doi.org/10.1007/978-981-19-5932-5_12

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