micromachines

Article
Oribron: An Origami-Inspired Deformable Rigid Bronchoscope
for Radial Support
Junjie Su 1 , Yangyang Zhang 1 , Liang Cheng 1 , Ling Zhu 2 , Runhuai Yang 1, * , Fuzhou Niu 3, * , Ke Yang 2, *
and Yuping Duan 1, *

1 School of Biomedical Engineering, Anhui Medical University, Hefei 230009, China;

[email protected] (S.J.)
2 Anhui Institute of Optics and Fine Mechanics, Hefei Institutes of Physical Science, Chinese Academy of
Sciences, Hefei 230031, China
3 School of Mechanical Engineering, Suzhou University of Science and Technology, Suzhou 215009, China
* Correspondence: [email protected] (R.Y.); [email protected] (F.N.); [email protected] (K.Y.);
[email protected] (Y.D.)

Abstract: The structure of a traditional rigid bronchoscope includes proximal, distal, and body,
representing an important means to treat hypoxic diseases. However, the body structure is too
simple, resulting in the utilization rate of oxygen being usually low. In this work, we reported
a deformable rigid bronchoscope (named Oribron) by adding a Waterbomb origami structure to
the body. The Waterbomb’s backbone is made of films, and the pneumatic actuators are placed
inside it to achieve rapid deformation at low pressure. Experiments showed that Waterbomb has
a unique deformation mechanism, which can transform from a small-diameter configuration (#1)
to a large-diameter configuration (#2), showing excellent radial support capability. When Oribron
entered or left the trachea, the Waterbomb remained in #1. When Oribron is working, the Waterbomb
transforms from #1 to #2. Since #2 reduces the gap between the bronchoscope and the tracheal
wall, it effectively slows down the rate of oxygen loss, thus promoting the absorption of oxygen
by the patient. Therefore, we believe that this work will provide a new strategy for the integrated
development of origami and medical devices.

Citation: Su, J.; Zhang, Y.; Cheng, L.;

Keywords: waterbomb origami; rigid bronchoscope; radial support; pneumatic control
Zhu, L.; Yang, R.; Niu, F.; Yang, K.;
Duan, Y. Oribron: An
Origami-Inspired Deformable Rigid
Bronchoscope for Radial Support. 1. Introduction
Micromachines 2023, 14, 822. https:// A rigid bronchoscope (RBs) [1] is an interventional surgical instrument that can treat
doi.org/10.3390/mi14040822 respiratory diseases, such as tracheal obstruction [2]. The traditional RBs consist of proximal,
Academic Editor: Daeha Joung distal, and body, as shown in Figure 1a: (1) the proximal contains a number of open ports
for the simultaneous connection of external devices, such as ventilators and light systems.
Received: 12 February 2023 (2) the distal is a slope to facilitate RBs through a narrow area. There are side holes near
Revised: 29 March 2023
the distal to maintain oxygen supply to the lungs, while RBs are inserted into the trachea.
Accepted: 4 April 2023
(3) the body is between the proximal and distal; it is made of hollow tubes of equal diameter.
Published: 6 April 2023
However, part of the oxygen will inevitably escape from the side hole when supplying
oxygen, resulting in a low utilization rate of oxygen, as shown by (i) in Figure 1c. This is
undoubtedly fatal for patients, as prolonged hypoxia can lead to brain damage and even
Copyright: © 2023 by the authors.
death [3]. In the current study, there are mainly the following methods that can improve
Licensee MDPI, Basel, Switzerland. the utilization rate of oxygen: high-flow oxygen therapy, oxygen humidifier, oxygen mixer,
This article is an open access article oxygen delivery device, and pulmonary expansion agent. These methods can improve the
distributed under the terms and utilization rate of oxygen, and control the flow rate of oxygen better. However, there is
conditions of the Creative Commons often the need to pay for additional treatment to install support devices and they often
Attribution (CC BY) license (https:// lack compatibility. A comparison of these methods can be found in the Supplementary
creativecommons.org/licenses/by/ Materials (see Table S1).
4.0/).

Micromachines 2023, 14, 822. https://doi.org/10.3390/mi14040822 https://www.mdpi.com/journal/micromachines

 oxygen mainly by reducing oxygen loss, as shown in Figure 1b. The deformable structure
has the advantages of flexibility, modularity, and extensibility [4,5], and can undergo ge-
ometric changes in specific directions under the stimulation of gas [6–10], optical [11],
thermal [12], magnetic [13], and electrical conditions [14], so it is suitable for a variety of
complex unstructured environments [15,16]. However, at present, the fabrication of de-
Micromachines 2023, 14, 822 2 of 17
formable structures is usually operated on a three-dimensional scale, which has the dis-
advantages of low precision, long duration, and high cost [17–19].

Figure1.1.The
Figure The design
design principle
principle of
ofOribron.
Oribron.(a)(a)
Application. TheThe
Application. blueblue
areaarea
represents traditional
represents RBs
traditional
and together with the yellow area form Oribron. (b) The principle of increasing blood oxygen.
RBs and together with the yellow area form Oribron. (b) The principle of increasing blood oxygen. (c)
Oxygen supply effect of the traditional RBs and Oribron.
(c) Oxygen supply effect of the traditional RBs and Oribron.

ToOrigami
solve this is an ancientthis
problem, technique that converts
work proposed two-dimensional
deformable RBs, which crease patterns blood
can improve (CPs)
into three-dimensional deformable structures by folding and deploying
oxygen mainly by reducing oxygen loss, as shown in Figure 1b. The deformable structure [20], it can rapidly
change
has the size, shape,
the advantages and motion
of flexibility, of objects [21,22],
modularity, which has the
and extensibility advantages
[4,5], and can of recon-
undergo
geometric changes in specific directions under the stimulation of gas [6–10], optical [26].
figurability [23], variable stiffness [24], multi-stability [25] and negative Poisson [11],
Therefore,
thermal [12],origami
magnetichas [13],
been and
widely used inconditions
electrical surgical robots
[14],[27,28],
so it issoft robotsfor
suitable [29,30], mi-
a variety
ofcrorobots
complex [14,31], and mechanical
unstructured metamaterial
environments [32,33] in recent
[15,16]. However, years.the
at present, By fabrication
changing the of
arrangement
deformable of CPs, scientists
structures is usually have designed
operated on many classical origamiscale,
a three-dimensional CPs, which
including hasWa-the
terbomb [34–36],
disadvantages Kresling
of low [37–39],
precision, longYoshimura
duration, and [25,40],
highMiura [41,42], Flasher [43,44], and
cost [17–19].
Square-twist [45,46]. Among them, Waterbomb has
Origami is an ancient technique that converts two-dimensional two different motion
creasepaths
patterns[47],(CPs)
so it
has great attention. One is positive Poisson deformation with an antagonistic
into three-dimensional deformable structures by folding and deploying [20], it can rapidly relationship
in axialthe
change andsize,
radial directions,
shape, and theof
and motion other is negative
objects [21,22],Poisson
which has withthe
simultaneous
advantagesexpan- of re-
configurability [23], variable stiffness [24], multi-stability [25] and negativevariations
sion/contraction. Therefore, Waterbomb is ideal for situations where radial Poisson [26]. are
coupled toorigami
Therefore, the surroundings, such asused
has been widely variable wheel [48,49],
in surgical robotsworm-like robot
[27,28], soft [50,51],
robots and
[29,30],
medical stent
microrobots [52,53].
[14,31], Inspired
and by Waterbomb’s
mechanical metamaterial positive
[32,33]Poisson mechanism,
in recent years. By wechanging
want to
attach
the Waterbomb
arrangement of to thescientists
CPs, body of RBs
have to designed
form Oribron,many asclassical
shown inorigami
Figure 1a.
CPs,P0 is defined
including
as the initial pressure when the proximal enters oxygen. When Oribron
Waterbomb [34–36], Kresling [37–39], Yoshimura [25,40], Miura [41,42], Flasher [43,44], and enters or exits the
trachea,
Square-twist [45,46]. Among them, Waterbomb has two different motion paths [47], so it
has great attention. One is positive Poisson deformation
P0 = 0 with an antagonistic relationship
(1)
in axial and radial directions, and the other is negative Poisson with simultaneous expan-
the Waterbomb isTherefore,
sion/contraction. a compactWaterbomb
configuration with for
is ideal a small diameter
situations (small
where form),
radial as shown
variations are
by (ii) intoFigure
coupled 1c. When Oribron
the surroundings, such is
asworking,
variable wheel [48,49], worm-like robot [50,51], and
medical stent [52,53]. Inspired by Waterbomb’s positive Poisson mechanism, we want to
attach Waterbomb to the body of RBs to form Oribron, as shown in Figure 1a. P0 is defined
as the initial pressure when the proximal enters oxygen. When Oribron enters or exits the
trachea,
P0 = 0 (1)
the Waterbomb is a compact configuration with a small diameter (small form), as shown by
(ii) in Figure 1c. When Oribron is working,
P0 > 0 (2)
Micromachines 2023, 14, 822 3 of 17

the Waterbomb is an expansion configuration with a large diameter (large form), as shown
by (iii) in Figure 1c. At this point, the Waterbomb has infinitely close to the trachea to
almost completely block the escape of oxygen.
In this study, we report deformable RBs with radial support capability. The deformable
structure is made by the origami method, which has the advantages of lightweight, sim-
ple manufacture, and low cost, and has a large radial deformation ratio under pneu-
matic control. We evaluate the feasibility of combining origami with RBs in five ways:
(1) geometric design, (2) kinematic modeling, (3) mechanical analysis, (4) pneumatic control,
and (5) a smoke experiment.

2. Materials and Methods

2.1. Fabrication of the Waterbomb
In this study, we chose some lighter thin films (thickness ≤ 50 µm) as origami material,
including PET (Jubang Plastic Material Co., Ltd., Dongguan, Guangdong, China), PI
(Beilong Electronics Co., Ltd., Guangzhou, Guangdong, China) and PTFE (Gefang New
Material Co., Ltd., Taizhou, Jiangsu, China). A single layer of PET was used as the control
group, and the combination of PET and other films was used as the experimental group,
resulting in a total of three groups of test samples. To create the double-layer structure,
we selected a double-sided tape (3M 467MP, 3M Co., Ltd., Saint Paul, MN, USA) with a
thickness of 50 µm to bond the film. When bonding is complete, the PET is first placed face
up, then the surface is blackened with a marker pen (the main components were carbon
black and ethanol).
First, two films of similar size are evenly bonded with double-sided adhesive. It
should be noted that there should not be a large gap between the films, otherwise the
stability of the structure is easily destroyed. The CPs are designed by ORIPA software (Ver.
0.35), and transferred to the laser device LaserPecker (L2, Hi-Xing Technology Co., Ltd.,
Shenzhen, Guangdong, China) via Bluetooth. At high temperatures, the film can produce a
crease line with actual depth and width, so that there is a stiffness difference between the
crease and the surface, convenient for subsequent manual folding. Finally, the end cap is
assembled with the Waterbomb to achieve complete axial closure. Fabrication details can
be found in the Supplementary Material (see Figures S1 and S2 and Table S2).

2.2. Kinematic Modeling

First, we assume that the motion of Waterbomb satisfies symmetry; the algorithmic dia-
gram of the kinematic model can be found in the Supplementary Materials
(see Figure S3). Next, all crease intersections are classified, and the vertices are precisely
positioned using the row and column numbers. Then, the kinematic equations of the
Waterbomb were determined by combining three aspects: (1) the projected view of row 0
for #1 and #2; (2) the motion path of the P and Q lines; and (3) the position vector model of
row 1. Finally, the complete set of kinematic equations was solved by MATLAB (R2017a).
Modeling details can be found in the Supplementary Materials (see Figures S4 to S6, Tables
S3 and S4).

2.3. Finite Element Analysis (FEA)

First, a 3D model of the Waterbomb was created by SOLIDWORKS (2018 SP0.0). Then,
the model was transferred to COMSOL Multiphysics® 5.6. To simulate the stress of the
Waterbomb under axial and radial loads, the structural mechanics module was selected and
several key parameters were determined: (1) the transient solver is PRADISO; (2) t time
step method is the backward difference; (3) we fixed the constraint at the bottom end cap;
And (4) the axial boundary load was applied to the top end cap, and the radial boundary
load was applied to the four pairs of adjacent largest triangular facets in row 0.
Finally, we evaluate the mechanical properties of #2 through three mechanical com-
pression experiments, including quasi-static compression, cyclic compression, and creep.
The experimental equipment is Universal Tensile Strength Tester (REGER GEM-10, REGER
Micromachines 2023, 14, 822 4 of 17

Instrument Co., Ltd., Shenzhen, Guangdong, China). In the quasi-static compression ex-
periment, the axial and radial displacements were set at 30 mm and 12 mm, respectively,
according to the actual manufacturing size of the Waterbomb (a = 14 mm). In the cyclic
compression experiment, the number of cycles was equal to 5, and the axial and radial
cycle conditions were set as periodic force (0 ≤ Fa < F(2, 3) ) and periodic displacement
(0 ≤ Dr ≤ 12), respectively. In the creep experiment, the axial load and radial displacement
remained unchanged, and the elastic deformation capacity of the film is analyzed through
the change of force.

2.4. Pneumatic Control System

Considering the characteristics of the film and the production cost, we took the air
pump of a common sphygmomanometer as the air source of the control system and
designed the pneumatic actuator composed of long balloons and non-woven gauze, in
which the gauze comes from the inner layer of the mask. After the inside of the Waterbomb
was placed into the actuator, we secured the actuator and the end cap with a string. We
connected the smart meter (YBS-80A, Xuansheng Instrument Technology Co., Ltd., Suzhou,
Jiangsu, China) between the air source and the Waterbomb, and connected the RS 485
(DT-5019, DTECH Electronic Technology Co., Ltd., Guangzhou, Guangdong, China) to the
computer for real-time data transmission. The pneumatic control of the Waterbomb can be
found in the Supplementary Material (Video S1).

2.5. Smoke Blocking Experiment

First, we processed the simulated trachea with an FDM 3D printer (Aurora Technology
Co., Ltd., Shenzhen, Guangdong, China). All parts of the simulated trachea (trachea and
bronchus) remain the same diameter, equal to 60 mm. Then, we chose a red smoke block
(Fangcai Trading Co., Ltd., Guangzhou, Guangdong, China) composed of compressed
starch and dye, which can produce a large amount of red smoke when burned. To ensure
safety, the weight of each burning smoke block is not more than 5 g, and it needs to be
operated in a relatively wide area. Details of the smoke-blocking experiment can be found
in the Supplementary Material (Video S2).

2.6. Statistical Analysis

All experiments in this study were conducted at least three times, and the data collec-
tion process was scientific and reliable. We mainly used MATLAB to process data, and the
results were statistically significant. The error bar is determined by the standard error of
the mean value and the error shadow band was determined by the fluctuation range of
the data.

3. Results
3.1. Origami Structural Design
The CPs consist of creases and facets [54], which can be folded a finite number of times
to form a three-dimensional origami structure, as shown in Figure 2a. The intersection
between the creases is called the vertex, the filled area between the creases is called the facet,
and the dihedral angle between the two facets with a common crease is called the folding
angle. According to the direction of folding, the creases can be divided into mountain
crease (M) and valley crease (V), which are shown as solid black lines and dashed lines,
respectively, where the mountain crease has a folding angle θ M ∈[−π, 0], and the valley
crease has a folding angle θ V ∈[0, π] [55]. The Waterbomb base is a typical six-crease
single vertex pattern with a square outer edge, containing two colinear mountain creases
and four diagonal valley creases, as shown in Figure 2b. The geometry is determined
by four parameters: the side length 2a, the dihedral angle θ of the two largest triangular
facets, the number of bases in the longitudinal direction m, and the number of bases in
the circumferential direction n. Different proportions of m and n can form a variety of
Waterbomb origami structures, also known as origami magic balls, which have significant
 crease single vertex pattern with a square outer edge, containing two colinear mountain
creases and four diagonal valley creases, as shown in Figure 2b. The geometry is deter-
mined by four parameters: the side length 2a, the dihedral angle θ of the two largest tri-
Micromachines 2023, 14, 822 5 of 17
angular facets, the number of bases in the longitudinal direction m, and the number of
bases in the circumferential direction n. Different proportions of m and n can form a vari-
ety of Waterbomb origami structures, also known as origami magic balls, which have sig-
deformability in the radial
nificant deformability direction.
in the The radial
radial direction. and
The axialand
radial lengths
axialoflengths
the Waterbomb
of the Water- are
denoted Lr and by
bomb arebydenoted La, Lr
respectively. In our experiments,
and La, respectively. we foundwe
In our experiments, thatfound
Waterbomb
that Water-has
excellent
bomb has folding/deploying performanceperformance
excellent folding/deploying when 2n = 5m + 1 (m
when 2nis= odd)
5m +is1 satisfied,
(m is odd) as is
shown
satis-
in Figure 2c. As m increased from 3 to 11, the radial expansion and axial
fied, as shown in Figure 2c. As m increased from 3 to 11, the radial expansion and axialcontraction were
significantly enhanced,
contraction were with an antagonistic
significantly enhanced, with trendaninantagonistic
both directions.
trendNotably,
in boththe product
directions.
of the radial expansion and axial contraction ratios was almost always close
Notably, the product of the radial expansion and axial contraction ratios was almost al- to 1. Although
the
waysricher kinematic
close behavior
to 1. Although theisricher
achieved at higher
kinematic m, it makes
behavior manual
is achieved foldingm,
at higher extremely
it makes
difficult. Therefore,
manual folding this work
extremely only discusses
difficult. Therefore,thethis
relatively simple
work only and classic
discusses configuration
the relatively sim-
with m = 3, n = 8.
ple and classic configuration with m = 3, n = 8.

Figure2.2. Origami
Figure Origami design
design and
andanalysis.
analysis. (a)
(a) Origami
Origami mechanism.
mechanism. (b)
(b) The
The folding
folding sequence
sequence of
of the
the
Waterbomb base. (c) Five groups of Waterbomb satisfy the equation 2n = 5m + 1. (d)
Waterbomb base. (c) Five groups of Waterbomb satisfy the equation 2n = 5m + 1. (d) Waterbomb Waterbomb (m
(m = 3, n = 8). (i) CPs; (ii) seal structure; (iii) End cap. (e) Deploying sequence of the Waterbomb.
Materials: backbone (PET + PTFE), end cap (PET + PI). (f) Standard ratios of radial and axial length.

To improve the Waterbomb, we proposed new CPs, as shown by (i) in Figure 2d. The
pattern consists of three identical rows of eight bases closely linked, with half-columns
staggered between rows to meet specific origami design principles [56]. Figure 2e shows
the folded Waterbomb prototype and the backbone structure consisting of three layers: row
Micromachines 2023, 14, 822 6 of 17

−1, row 0, and row 1. The leftmost additional quarter column (dark gray) was glued to the
rightmost column to form a closed tube, and the seal structure at the top (or bottom) was
used to initially close the tube axially, as shown by (ii) in Figure 2d for the design principle.
The triangles facet P0 Q0 Q1 and P0 Q00 Q10 overlapped each other with scissors along P0 P1 ,
and the pink area was used to reinforce the joint effect. The end cap is made up of a thin
seal cap and a thick reinforced part, where the seal cap is bonded to the sealing structure,
and the reinforced part was used to increase the strength of the end cap. The reinforced
part was used to increase the robustness of the end cap. The end cap was geometrically
constrained, limiting the ability to expand/contract simultaneously, so that the Waterbomb
can only undergo positive Poisson deformation after being closed axially. Waterbombs had
four configurations during the deployment process, including states #1, #2, #3, and #4, as
shown in Figure 2e. State #1 is an unstable configuration that requires forces to maintain a
uniform small form, and it can be quickly converted to #2 when the forces disappear. The
last three are stable configurations, all with large forms. The stability of each configuration
can be determined by mathematical conditions, which can be found in the Supplementary
Materials (see Tables S3 and S4). Lr/a and La/a are used to represent the dimensionless
deformation standard ratios of radial and axial lengths, respectively, as shown in Figure 2f.
From #1 to #4,
Lr4 /Lr1 = 2.08, and La4 /La1 = 0.48 (3)
an interesting result can be found,
(Lr4 La4 )/(Lr1 La1 ) ≈ 1 (4)
it is consistent with the experimental results in Figure 2c. Formula (4) shows that the
axial and radial deformations of the Waterbomb have an antagonistic relationship. Thus,
although a higher radial expansion ratio is beneficial in this work, it also means that the
axial needs to provide greater compensation. In addition, Formula (4) shows that #1 can be
transformed into #4 by controlling only one direction, which plays a key role in actuator
design.
Taking #2 as the special state of all configurations, the deformation characteristics of
the Waterbomb are discussed respectively. From #1 to #2,
Lr2 /Lr1 = 1.88, and La2 /La1 = 0.81 (5)
from #2 to #4,
Lr4 /Lr2 = 1.11, and La4 /La2 = 0.59 (6)
On the one hand, #2 already has a large radial length; although #4 can be expanded to
a larger diameter, the difference is smaller. On the other hand, both #2 and #4 are stable
configurations, and the transition between them requires crossing a high energy barrier. In
summary, we decided to use the deformation between #1 and #2 to achieve gas blocking.
For manufacturing, we chose thin films as the origami material [50,57,58], with the ad-
vantages of lightness, safety, flexibility, and durability, including polyethylene terephthalate
(PET), polyimide (PI) and polytetrafluoroethylene (PTFE). Because of the lack of stability of
single-layer films, we constructed double-layer films that are bonded with double-sided
adhesive, and the creases were machined by laser machining techniques.

3.2. Kinematic Modeling

The deformation of the Waterbomb is extremely complex [47,59]. To systematically
describe the motion mechanism, a simplified kinematic model was established in this work.
Let i = −1, 0, 1, j = 0, 1, . . . , n − 1. We notice two sets of mountain creases at Waterbomb,
which are located on the left and right sides of the half column and are named Pj line and
Qj line, as shown by (i) in Figure 3a. According to the different positions of each vertex in
CPs, it can be divided into three types of six-crease intersections and two types of terminal
vertices. The six-crease intersection points include Ai,j , B(i,i+1),j and C(i,i+1),j , and the terminal
vertices include Pi,j and Qi,j , where Pi,j and Qi,j are the exclusive vertices of line Pj and
Qj respectively, as shown by (ii) in Figure 3a. We named the plane of vertices A0,j the
equatorial plane, which divides the Waterbomb into the same upper and lower parts, as
 work. Let i = −1, 0, 1, j = 0, 1, … , n–1. We notice two sets of mountain creases at Waterbomb,
which are located on the left and right sides of the half column and are named Pj line and
Qj line, as shown by (i) in Figure 3a. According to the different positions of each vertex in
CPs, it can be divided into three types of six-crease intersections and two types of terminal
vertices. The six-crease intersection points include Ai,j, B(i,i+1),j and C(i,i+1),j, and the terminal
Micromachines 2023, 14, 822 7 of 17
vertices include Pi,j and Qi,j, where Pi,j and Qi,j are the exclusive vertices of line Pj and Qj
respectively, as shown by (ii) in Figure 3a. We named the plane of vertices A0,j the equato-
rial plane, which divides the Waterbomb into the same upper and lower parts, as shown
shown
by (i) inbyFigure
(i) in 3c.
FigureThe 3c.
center Theline
center
that line thatvertically
crosses crosses vertically
through the through the equatorial
equatorial plane was
plane
definedwasasdefined as the rotation
the rotation axis, andaxis, the and the symmetry
symmetry axis of axis
the of the
Pi/Q Pi /Q
i line i line
was was defined
defined as the
as the reflection
reflection axis. Ifaxis.
θReflIfisθ Refl
used is to
used to represent
represent the angle
the angle between
between adjacent
adjacent reflection
reflection axes,axes,
θRefl
θ=Refl = π/n, and the central angle occupied by each column in the circumferential
π/n, and the central angle occupied by each column in the circumferential direction was direction
was
equal equal toRefl
to 2θ 2θ, Refl , as shown
as shown by (i)byin(i)Figure
in Figure
3c. 3c.

Figure3.3.Kinematic
Figure Kinematicmodel
modelofof
thethe Waterbomb.
Waterbomb. (a) (a) Vertex
Vertex classification.
classification. (i) half-column
(i) half-column of CPs;
of CPs; (ii)
(ii) five
five types of vertices, represented by solid circles in yellow, green, blue, black, and white.
types of vertices, represented by solid circles in yellow, green, blue, black, and white. (b) The motion (b) The
motion paths of the P0 and Q1 lines. (c) #1 and #2. (i) main view; (ii) half-column of the projected
paths of the P0 and Q1 lines. (c) #1 and #2. (i) main view; (ii) half-column of the projected view on the
equatorial plane. (d) Model solution. (i) radial length; (ii) axial length; (iii) geometric conflict.

If the facet and crease are regarded as rigid linkage and rotary joint respectively, then
six-crease origami can be equivalent to a spherical 6R linkage with three degrees of freedom
(DOF) [60,61]. Therefore, the Waterbomb formed by connecting multiple groups of six-
crease vertices belongs to the multi-DOF system. To avoid using too many actuators, we
make the following ideal assumptions to reduce DOF. First, creases and intersections can
be equivalent to mathematical lines and points respectively. Then, the bases on the same
row have the same kinematic behavior, and the bases in the same column are symmetric
about the equatorial plane. Finally, the deformation process follows the zero thickness [62]
and rigid origami mechanisms [43,63]. The zero thickness ignores the thickness of the facet.
Micromachines 2023, 14, 822 8 of 17

The rigid origami limits facet deformation, and there is no physical interference. Based on
these assumptions, we only need to control half the column to achieve full motion, so the
DOF of the Waterbomb can be reduced to 1.
Considering the special case when j = 0, 1, Figure 3b shows the motion path of P and
Q lines from #1 to #2. For vertex C of the P line, zP,C represents the distance from vertex C
to the axis of reflection, and rP,C represents the distance from vertex C to the axis of rotation.
To facilitate modeling, we use the same definition for the other vertices. Note that vertex
B/C and vertex P/Q determine the maximum radial and axial lengths, respectively. Thus,
Lr = max{2rP,C , 2rQ,B }, and La = max{2zP,P , 2zQ,Q } (7)
as shown by (ii) in Figure 3c, the projected view of the Waterbomb on the equatorial plane
has a unique θ 0 value for each state. Define ϕ0 as the dihedral angle of the two largest
triangles adjacent facets to the base on row 0. When the Waterbomb is at #1, the folding
angle θ 0 has a minimum θ 0(min) ,
θ 0(min) = 2θ Refl , and ϕ0 = 0 (8)
when the Waterbomb is at #2,
θ 0 = 2θ Refl + ϕ0 , and ϕ0 > 0 (9)
we take angle θ 0 as the unique input variable of the kinematic model, θ 0 ∈[2θ Refl , 150◦ ].
The solution results are shown in Figure 3d, and the analysis process can be found in the
Supplementary Materials (see Figure S5). As shown by (i and ii) in Figure 3d, the variation
trend of the radial and axial length of the Waterbomb. When θ 0 = 2θ Refl ,
(Lr/a)min = 2.0, and (La/a)max = 4.1 (10)
when θ 0 = 150◦ ,
(Lr/a)max = 5.1, and (La/a)min = 2.4 (11)
it can be seen that when the Waterbomb transformed from #1 to #2, the radial length
expanded in a large range (2.55), while the axial length only shrunk in a small range (0.59),
which is consistent with the geometric analysis above. In addition, we found that geometric
conflicts existed at the junction of row 0 and row −1/1, as shown by (iii) in Figure 3d. On
the one hand, PC = 2CA, and for the angle θ P,PC the growth rate was greater than θ P,CA .
According to the symmetry of Waterbomb, the vertex B/C of the P line cannot provide
enough space in time to be compatible with PB/PC. On the other hand, the radius rP,P
of the outer circle of the end cap remained constant in length during motion. Therefore,
when θ 0 is large, a geometric conflict will occur at the vertex B/C of the P line, keeping #2
in a stable configuration. If the axial length continues to reduce, it will not only cause the
PB/PC to bend, but the adjacent facets will also break the limit of rigid origami, resulting
in non-rigid folding behavior. To improve the structural stability, inspired by Lee et al. [49],
we designed the flexible facet at the vertex B/C on the P line, as shown by (i) in Figure 2d,
which aims to avoid bending by reducing the length of PB/PC.

3.3. Mechanical Analysis

The mechanical properties of the Waterbomb can be described by eight parameters:
(1) axial displacement Da , (2) axial force Fa , (3) critical force Fa(i, i+1) between the stable
configurations i and i + 1 in axial compression, (4) radial displacement Dr , (5) radial force
Fr , (6) the linear regression coefficient of determination R2 of the Dr -Fr curve, (7) radial
stiffness Kr , where Kr = Fr /Dr , and defining compliance as the reciprocal of Kr , and (8) the
rate of decrease of the axial and radial forces during the creep phase V fa , V fr , defined as the
ratio of force to time.
The FEA results showed that in both axial and radial compression, the stress con-
centrations in the Waterbomb were at the intersections of the folds, particularly at vertex
B/C, as shown in Figure 4a. This result is consistent with the geometric conflict in the
kinematic analysis. To reduce stress, we added holes at all crease intersections so that the
vertices became areas of actual depth after laser machining is completed, as shown by (i) in
 ness Kr, where Kr = Fr/Dr, and defining compliance as the reciprocal of Kr, and (8) the rate
of decrease of the axial and radial forces during the creep phase Vfa, Vfr, defined as the
ratio of force to time.
The FEA results showed that in both axial and radial compression, the stress concen-
Micromachines 2023, 14, 822
trations in the Waterbomb were at the intersections of the folds, particularly at vertex9B/C, of 17
as shown in Figure 4a. This result is consistent with the geometric conflict in the kinematic
analysis. To reduce stress, we added holes at all crease intersections so that the vertices
became areas of actual depth after laser machining is completed, as shown by (i) in Figure
Figure 2d. axial
2d. In the In thedirection,
axial direction, theconfiguration
the stable stable configuration #2 can transition
#2 can transition first
first to #3 andtothen
#3 and
to
then to #4. Thus, #2 exhibited multi-stable axial quasi-static compression, as
#4. Thus, #2 exhibited multi-stable axial quasi-static compression, as shown by (i) in Figureshown by (i) in
Figure
4c. When 4c. FWhen Fa > F can3)be
a > Fa(2, 3), #2 a(2,
, #2quickly
can be converted
quickly converted to the
to #3, and #3, and
forcethe
Fa force Fa decreased
decreased signifi-
significantly,
cantly, which is called snap-through [51]. At this time, the Waterbomb had aanegative
which is called snap-through [51]. At this time, the Waterbomb had negative
stiffness (Kr < 0). When the thickness of origami materials was thinner, the difference in
stiffness (Kr < 0). When the thickness of origami materials was thinner, the difference in
stiffness between all parts was small; #2 satisfied folding symmetry and could be converted
stiffness between all parts was small; #2 satisfied folding symmetry and could be con-
directly to #4 without going through #3, as shown by (i) in Figure 4c (red curve). In the
verted directly to #4 without going through #3, as shown by (i) in Figure 4c (red curve). In
radial direction, #2 exhibited compliance with increased force, as shown by (ii) in Figure 4c.
the radial direction, #2 exhibited compliance with increased force, as shown by (ii) in Fig-
When the origami material was the same, the compliance decreased with the increase of the
ure 4c. When the origami material was the same, the compliance decreased with the in-
thickness of the origami material. Table 1 compares the Kr of three groups; it can be found
crease of the thickness of the origami material. Table 1 compares the Kr of three groups; it
that the double-layer structure had a greater Kr than the single layer, which contributes to
can be found that the double-layer structure had a greater Kr than the single layer, which
the stability of the radial support.
contributes to the stability of the radial support.

Figure 4.
Figure 4. Mechanical
Mechanical compression
compression properties
properties of of the
the Waterbomb
Waterbomb (#2).
(#2). (a)
(a) FEA
FEA results.
results. (i)
(i)axial;
axial;(ii)
(ii)
radial. (b)
radial. (b) Compression
Compression process.
process. (i)
(i) axial;
axial; (ii) radial. (c)
(ii) radial. (c) Quasi-static
Quasi-static compression,
compression, and
and thethe shaded
shaded
area near the curve representing the error band. (i) axial; (ii) radial. (d) Cyclic compression and creep
experiments. (i) axial; (ii) radial.

Table 1. Mechanical properties of the Waterbomb.

Thickness of V fr V fa
Group Mass (g) R2 Kr (N/mm)
Materials(mm) (10−3 N/s) (10−3 N/s)
i PET (0.05) 3.96 0.98 0.32 1.40 1.47
PET (0.05) + PI (0.03) 6.18 0.99 0.53 2.98 1.57
ii
PET (0.05) + PI (0.05) 7.11 0.93 0.56 3.70 1.95
PET (0.05) + PTFE (0.03) 8.47 0.90 0.51 1.38 3.17
iii
PET (0.05) + PTFE (0.05) 9.36 0.97 0.62 3.15 3.30

Thin film is a kind of viscoelastic material, and its mechanical properties are affected by
the number and time of deformation. To evaluate the deformability of #2 over a long period,
cyclic compression and creep experiments were carried out, as shown in Figure 4d. As the
Micromachines 2023, 14, 822 10 of 17

number of cycles increased from 1 to 5, both axial and radial forces decreased to varying
degrees, indicating that active recovery of the film lagged behind passive deformation. At
the end of the five cycles, the axial force and radial displacement were kept constant, and
the Waterbomb was allowed to enter the creep stage. As seen from Table 1, there was an
overall positive correlation between film thickness and the rate of decrease in force (V fa
and V fr ), indicating that the greater the thickness is the greater the creep rate of the sample.
In addition, we found a special case in the third group of experiments, where the V fr value
of the first sample was smaller than that of the first group. The most plausible explanation
for this is that manual errors led to a non-uniform distribution of the stiffness of the films,
which caused a non-rigid folding behavior during compression, thus causing abnormal
mechanical phenomena.

3.4. Pneumatic Control System

Inspired by the deformation mechanism of the McKibben artificial muscle [64], a
pneumatic actuator consisting of a balloon and gauze was created, as shown in Figure 5a.
Then, we wrapped an elastic band around the circumference of row 0, the purpose being
to maintain the small form #1 and increase the deformation speed of #2 to #1. When
P0 > 0, the actuator can only expand radially by contracting axially because of the increasing
volume of the gas and the inability to extend the balloon axially, thus gaining more internal
space. Figure 5b shows the pneumatic deformation process. The inflation time from #1 to
#2 was approximately 2 s, while the deflation time from #2 to #1 was up to 10 s. On the
one hand, unstable configuration #1 can easily change to stable configuration #2, but the
transition from #2 to #1 requires overcoming a high energy barrier. On the other hand, the
film is viscoelastic and has hysteresis in the deformation process, which is consistent with
the result in Figure 4d. To make the control process more intelligent, the pneumatic system
of real-time monitoring is constructed, as shown by (i) in Figure 5c.
The property of the actuator can be described by five parameters: (1) initial air pres-
sure P0 , (2) residual air pressure P, (3) air pressure variation ∆P, where ∆P = P − P0 ,
(4) airtightness Pratio , where Pratio = (P/P0 ) × 100%, and (5) the first-order fitting slope kx
of the Dr -∆P curve, where kx = ∆P/Dr , the subscript x corresponding to P0 = x KPa, and
P0(max) ≤ 60. As seen in (ii) in Figure 5c, Pratio reached 91.16% in 600 s, which means that
the actuator has a high internal air tightness. Figure 5d–f shows the variation curves of P0
and the folding angle θ 0 , radial length r, and axial length z respectively. As P0 increased
from 0 to 60 KPa, both θ 0 and r had a large increase, but the axial lengths zP,P only had a
small decrease. Note that the Waterbomb has an internal actuator that prevents the vertices
Ai,j from being colinear with the rotation axis, and thus (2rP,A )min > 0, as shown in Figure 5e.
Thus, #1 is generally ellipsoidal in geometry (non-uniform diameter), and there is no exact
solution to the equation θ 0(min) = 2θ Refl , as shown in Figure 5d.
To efficiently evaluate the radial mechanical properties of the Waterbomb under
pneumatic control, we selected a sample with the highest radial stiffness (the first of group
iii). In the inflated state, Kr is derived partly from the geometric model, and partly from the
internal actuator. Within the allowable pressure range of the actuator, Kr increased as P0
increased, as shown in Figure 5g. When P0 was higher (40 ≤ P0 ≤ 60), the radial support
ability was stronger, and had excellent radial mechanics. As P0 increased from 40 to 60 KPa,
Kx decreased from 0.51 to 0.21, indicating the high stiffness of the Waterbomb, as shown
in Figure 5h. Figure 5i shows the radial creep curve under pneumatic control. Although
V fr increased with the increase of P0 , V fr could be kept within a small range, making the
Waterbomb made of thin film safe and controllable. Finally, the mechanical data obtained
from the abovementioned analysis are shown in Table 2.
 P0 increased, as shown in Figure 5g. When P0 was higher (40 ≤ P0 ≤ 60), the radial support
ability was stronger, and had excellent radial mechanics. As P0 increased from 40 to 60
KPa, Kx decreased from 0.51 to 0.21, indicating the high stiffness of the Waterbomb, as
shown in Figure 5h. Figure 5i shows the radial creep curve under pneumatic control. Alt-
Micromachines 2023, 14, 822 hough Vfr increased with the increase of P0, Vfr could be kept within a small range, making
11 of 17
the Waterbomb made of thin film safe and controllable. Finally, the mechanical data ob-
tained from the abovementioned analysis are shown in Table 2.

Figure5.5.Pneumatic
Figure Pneumaticcontrol
controlsystem.
system. (a)
(a) Design
Design principle
principle of
of the
the actuator.
actuator. (b)
(b) Pneumatic
Pneumatic deformation
deformation
process. (c) Pneumatic devices. (i) components of the device; (ii) airtightness
process. (c) Pneumatic devices. (i) components of the device; (ii) airtightness of of the
the actuator
actuator within
within
600 s. (d) Folding angle θ0. (e) Radial length r. (f) Axial length z. (g) Radial stiffness Kr. When P0 is
600 s. (d) Folding angle θ 0 . (e) Radial length r. (f) Axial length z. (g) Radial stiffness Kr . When P0 is
equal to 40, 50, and 60 KPa, see (h) for actuator stability and (i) for the radial creep experiment.
equal to 40, 50, and 60 KPa, see (h) for actuator stability and (i) for the radial creep experiment.
Table 2. Radial mechanics of the Waterbomb under pneumatic control.
Table 2. Radial mechanics of the Waterbomb under pneumatic control.
P0 (KPa) Kr (N/mm) ∆P/Dr (KPa/mm) Vfr (10−3 N/s)
P0 (KPa) Kr (N/mm) ∆P/Dr (KPa/mm) V fr (10−3 N/s)
40 0.89 0.51 5.80
40 0.89 0.51 5.80
50 1.04 0.40 7.07
6050 1.40 1.04 0.40
0.21 7.07
12.85
60 1.40 0.21 12.85
3.5. Simulated Trachea Experiment
3.5. Simulated
Based onTrachea Experiment analysis, we built a prototype of Oribron, as shown by (i)
the above-shown
in Figure
Based6a.onWhen the gas enters
the above-shown from thewe
analysis, near end
built of RBs, #1 becomes
a prototype #2, as
of Oribron, as shown by
(ii)ininFigure
(i) Figure6a.
6a.When
By adjusting
the gas the pneumatic
enters from thecontrol valve,
near end the Waterbomb
of RBs, #1 becomescan easily
#2, as ob-
shown
tain
by (ii)any configuration
in Figure between #1
6a. By adjusting theand #2. We processed
pneumatic the simulated
control valve, tracheacan
the Waterbomb with 3D
easily
obtain any configuration between #1 and #2. We processed the simulated trachea with
3D printing technology, the geometric shape was Y-shaped, including the trachea and
bronchus, as shown in Figure 6b. Then, we put the Waterbomb into the trachea, and
compared the changes in the main/top view to evaluate the radial support capability.
When the Waterbomb was at #1, there was a large gap between row 0 and the trachea, as
shown by (ii) in Figure 6c. Therefore, #1 enters and exits the trachea smoothly, as shown in
Figure 6c. When the Waterbomb was at #2, row 0 was infinitely close to the trachea, so #2
could maintain close contact with the trachea without force, as shown by (ii) in Figure 6d.
Because of the limitation of manufacturing technology, this work did not achieve the
desired effect as shown in Figure 1a (Waterbomb connected to the body), meaning that the
gas could not be smoothly transported to the distal. On the other hand, Oribron has more
gaps, making it difficult for the sensors to accurately monitor pressure changes. Therefore,
 terbomb was at #1, there was a large gap between row 0 and the trachea, as shown by (ii)
in Figure 6c. Therefore, #1 enters and exits the trachea smoothly, as shown in Figure 6c.
When the Waterbomb was at #2, row 0 was infinitely close to the trachea, so #2 could
maintain close contact with the trachea without force, as shown by (ii) in Figure 6d.
Micromachines 2023, 14, 822 Because of the limitation of manufacturing technology, this work did not achieve
12 ofthe
17
desired effect as shown in Figure 1a (Waterbomb connected to the body), meaning that
the gas could not be smoothly transported to the distal. On the other hand, Oribron has
more gaps, making it difficult for the sensors to accurately monitor pressure changes.
we designed a smoke-blocking experiment to evaluate the radial support capability of
Therefore, we designed a smoke-blocking experiment to evaluate the radial support ca-
Oribron, as shown in Figure 6e.
pability of Oribron, as shown in Figure 6e.

Figure6.6.Radial
Figure Radialsupport
supportcapability
capabilityofofthe
theWaterbomb.
Waterbomb.(a)(a)Oribron
Oribrondevice.
device.(i)(i)when
when the
the Waterbomb
Waterbomb is
atis#1,
at #1,
andand
(ii)(ii)
whenwhenthethe Waterbomb
Waterbomb is at
is at #2.#2.
(b)(b)Simulated
Simulatedtrachea.
trachea.(c)(c)Radial
Radialsupport
support tests
tests inside
thetrachea
the tracheafor
for #1:
#1: (i)
(i) main
main view;
view; (ii)
(ii)top
topview.
view.(d) (d)Radial
Radialsupport
support tests
testsinside
inside thethe
trachea forfor
trachea #2: #2:
(i)
main view; (ii) top view. (e) Smoke block experiment. From left to right inside the
(i) main view; (ii) top view. (e) Smoke block experiment. From left to right inside the trachea: (i) no trachea: (i) no
obstruction is placed; (ii) place #1; and (iii) place #2.
obstruction is placed; (ii) place #1; and (iii) place #2.

First,we
First, wedivided
dividedthe
theexperiment
experiment into
into three
three cases,
cases, respectively,
respectively, in tracheal
in the the tracheal seg-
segment
ment of the simulated trachea: no obstruction, placement #1, and placement
of the simulated trachea: no obstruction, placement #1, and placement #2. Notice that the #2. Notice
that the
other sideother
of theside of the was
bronchus bronchus
closedwas closed
so that the so that can
smoke the smoke can toward
only move only move toward
the trachea.
Then, the burning red smoke block was placed into the collection device, and the device
outlet was connected to the open bronchial segment. Finally, the smoke passed into the
simulated trachea. The experimental results showed that a large amount of smoke escaped
from the trachea segment in the first and second cases, as shown by (i and ii) in Figure 6e.
In the third case, only a small amount of smoke appeared in the tracheal segment, as shown
by (iii) in Figure 6e. Therefore, when #1 was converted to #2, the radial support capacity
was significantly improved, and the smoke escape was effectively blocked.

4. Discussions
Oxygen saturation (SpO2 ) is an important physiological parameter for the transport
of oxygen by blood [65], defined as the ratio of oxyhemoglobin to all oxygen-carrying
Micromachines 2023, 14, 822 13 of 17

hemoglobin. When oxygen saturation is below 90%, it is considered abnormal [66]. In

recent years, the world has been severely affected by Coronavirus Disease 2019 (COVID-
19) [67,68], and some immunocompromised people are prone to recessive hypoxia after
infection with COVID-19 [69]. Although there is no obvious discomfort, the SpO2 is well
below normal and they are in critical condition. RBs are an important tool for the clinical
treatment of hypoxia, which can provide a large amount of oxygen to reduce the damage
caused by hypoxia. Compared with the traditional RBs, Oribron can achieve rapid and
large multiple radial deformation with oxygen supply. When P0 is higher, the Waterbomb
gradually maintains a large form of high stiffness, and the gap between the backbone
and trachea decreases continuously. At the same time, the Waterbomb effectively reduces
the loss of oxygen, thus promoting the synthesis of oxygenated hemoglobin. As a result,
Oribron has great potential to improve SpO2 .
Nevertheless, there were some limitations to this work, as follows:
(1) Miniaturization. In theory, the origami method has scale and material indepen-
dence [70–72]. Therefore, any material can be used to make deformable structures of
any size if it meets the requirements of processing technology. However, there are
still great challenges in practice. On the one hand, the seal structure of a small area
needs strong adhesive double-sided tape or glue; otherwise, it is easy to destroy the
structural stability, and the symmetry of motion. On the other hand, the small-size
actuators need to meet high machining accuracy to accommodate the narrow internal
space of #1;
(2) Intelligence. This work used a soft tube to transfer air from a fixed air source to achieve
control, lacking an intelligent self-perception and communication transmission ability.
Therefore, the integration of lightweight, multifunctional intelligent systems on thin
films could be considered in the future, thereby extending the range of applications.
Finally, we expect Oribron to be difficult to compete with commercially available med-
ical devices at present, but the origami method will continue to promote the development
and adoption of related fields.

5. Conclusions
(1) Multifunctional deformable RBs were proposed. Compared with the traditional RBs,
they can rapidly improve the utilization rate of oxygen in the oxygen supply and have
great application potential in the treatment of hypoxia;
(2) Improved Waterbomb CPs were proposed. The folded three-dimensional structure
had excellent radial support capability and effectively blocked the escape of smoke in
the simulated trachea;
(3) A complete origami kinematic model was established. The model accurately describes
the motion path of Waterbomb, and the causes of geometrical conflicts which affect
the stability of the structure were found;
(4) A pneumatic artificial muscle actuator (DOF = 1) was designed. The actuator was
highly airtight and had a lower cost to manufacture, allowing flexibility to control the
deformation process of the Waterbomb.

Supplementary Materials: The following supporting information can be downloaded at: https://
www.mdpi.com/article/10.3390/mi14040822/s1, Figure S1. Fabrication of Waterbomb. Figure S2.
Small size sample of Waterbomb. Figure S3. The Waterbomb kinematic algorithm. Figure S4. Com-
plete CPs of Waterbomb. Figure S5. Kinematic analysis of Waterbomb. Figure S6. Geometric
conflict. Table S1. Comparison of various methods to improve the utilization rate of oxygen. Ta-
ble S2. Laser processing parameters. Table S3. Stability judgment of Waterbomb deformation
process. Table S4. Stability judgment of various Waterbomb configurations. Video S1: Pneu-
matic control of Waterbomb. Video S2: Smoke blocking of Waterbomb. Refs. [73–85] are cited in
Supplementary Materials.
Micromachines 2023, 14, 822 14 of 17

Author Contributions: J.S. designed the Waterbomb origami structure, built the kinematic model,
and wrote the paper. Y.Z. completed the mechanical compression experiments and processed the
data. L.C. developed the pneumatic control system. L.Z. implemented the smoke-blocking test. R.Y.,
F.N., K.Y. and Y.D. co-directed the research and revised the paper. All authors have read and agreed
to the published version of the manuscript.
Funding: This research was funded by Fundamental Research Funds for the Natural Science Funding
Program of Anhui Province, grant number KJ2021A0249, Suzhou City Industry Foresight and Key-
Core Technology Project, grant number SYC2022044, Natural Science Foundation of China, grant
number 61903269, and the Outstanding Youth Research Project in Universities of Anhui province,
grant number 2022AH030077.
Institutional Review Board Statement: Not applicable.
Informed Consent Statement: Not applicable.
Data Availability Statement: All data required to support the conclusions of this paper are included
in the text and Supplementary Materials. Y.D. can be contacted for further information.
Acknowledgments: We are grateful to Anhui Medical University for their help with this work.
Conflicts of Interest: The authors declare no conflict of interest.

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