# US 11,304,767 B2 · Origami robots, systems, and methods of treatment > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,304,767 B2 - Document ID: US11304767B2 - Status: Granted - Kind: B2 - Application number: 16/592,171 - Filed: 2019-10-03 - Published: 2020-02-06 - Granted: 2022-04-19 - Earliest claimed: 2016-04-21 - Assignees: Massachusetts Institute of Technology - Applicants: Massachusetts Institute of Technology; Children's Medical Center Corporation - Inventors: Daniela Rus; Shuhei Miyashita; Dana Damian - Web page: https://patentgrep.com/patent/US11304767B2 ## CPC - A61B 34/30: Surgical robots - A61B 17/52: Magnets - A61B 34/72: {Micromanipulators} - A61B 34/73: {Manipulators for magnetic surgery} - A61M 31/00: Devices for introducing or retaining media, e.g. remedies, in cavities of the body (A61M25/00 takes precedence {; introducing or retaining ophthalmic products into the ocular cavities A61F9/0008}) - A61B 2017/00004: {(bio)absorbable, (bio)resorbable or resorptive} - A61B 2017/00526: {Methods of manufacturing} - A61B 2034/303: {specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels} - A61M 2210/1042: Alimentary tract (A61M2210/0618 takes precedence) - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - A61M: DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY (introducing media into or onto the bodies of animals A61D7/00; means for inserting tampons A61F13/26; devices for administering food or medicines orally A61J; containers for collecting, storing or administering blood or medical fluids A61J1/05); DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY (surgery A61B; chemical aspects of surgical articles A61L); DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR {(Electrotherapy, e.g. producing anaesthesia by the use of alternating or intermittent currents A61N1/36021)} ## Abstract Origami robots, and associated systems, methods of treatment, and methods of manufacture are provided. A system includes an origami robot encapsulated for ingestion by a patient, such as in a biocompatible material that is dissolvable or meltable within the gastrointestinal tract. A method of treatment includes delivering an origami robot in a folded position into a gastrointestinal tract of a patient, causing the origami robot to unfold within the gastrointestinal tract, and directing the origami robot to a site requiring treatment in the gastrointestinal tract. ## Claims ### Claim 1 A method of preparing an origami robot for use in gastrointestinal tract, comprising: constructing the origami robot such that it comprises a foldable body portion that comprises one or more folds, slits, or patches of material configured to move in response to stimulus external to the patient, to induce locomotion of the origami robot; exposing the foldable body portion to heat effective to shrink and/or fold the origami robot to a size suitable for encapsulation, and encapsulating the origami robot in a folded position with an encapsulation material configured to (i) permit the origami robot to be swallowed by a patient, and (ii) release the origami robot from the encapsulation material in the stomach of the patient, such that the origami robot unfolds to an operable, unfolded position by removing the encapsulation material. ### Claim 2 (depends on 1) The method of claim 1, wherein the encapsulation material comprises a biocompatible material that is dissolvable or meltable within the stomach. ### Claim 3 (depends on 2) The method of claim 2, wherein the encapsulation material comprises ice. ### Claim 4 (depends on 1) The method of claim 1, wherein the one or more folds, slits, or patches of material are configured to expand or shrink when exposed to heat or a magnetic field, to induce the locomotion of the origami robot. ### Claim 5 (depends on 1) The method of claim 1, wherein the foldable body portion comprises an actuation material layer and a structural material layer. ### Claim 6 (depends on 5) The method of claim 5, wherein the actuation material layer comprises a heat sensitive film. ### Claim 7 (depends on 5) The method of claim 5, wherein the structural material layer comprises an organic animal tissue material. ### Claim 8 (depends on 5) The method of claim 5, wherein the foldable body portion further comprises a layer comprising an active pharmaceutical ingredient configured to be released following ingestion of the origami robot. ### Claim 9 (depends on 1) The method of claim 1, wherein the origami robot comprises a magnet configured to retrieve a button battery in the stomach of the patient. ### Claim 10 A method of preparing an origami robot for use in gastrointestinal tract, comprising: encapsulating the origami robot in a folded position with an encapsulation material configured to (i) permit the origami robot to be swallowed by a patient, and (ii) release the origami robot from the encapsulation material in the stomach of the patient, such that the origami robot unfolds to an operable, unfolded position by removing the encapsulation material, wherein the origami robot comprises a foldable body portion that comprises one or more folds, slits, or patches of material configured to move in response to a stimulus external to the patient, to induce locomotion of the origami robot, and wherein the encapsulation material comprises a biocompatible material that is dissolvable or meltable within the stomach. ### Claim 11 (depends on 10) The method of claim 10, wherein the encapsulation material comprises ice. ### Claim 12 (depends on 10) The method of claim 10, wherein the one or more folds, slits, or patches of material are configured to expand or shrink when exposed to heat or a magnetic field, to induce the locomotion of the origami robot. ### Claim 13 (depends on 10) The method of claim 10, wherein the foldable body portion comprises an actuation material layer and a structural material layer. ### Claim 14 (depends on 13) The method of claim 13, wherein the actuation material layer comprises a heat sensitive film. ### Claim 15 (depends on 13) The method of claim 13, wherein the structural material layer comprises an organic animal tissue material. ### Claim 16 (depends on 13) The method of claim 13, wherein the foldable body portion further comprises a layer comprising an active pharmaceutical ingredient configured to be released following ingestion of the origami robot. ### Claim 17 (depends on 10) The method of claim 10, wherein the origami robot comprises a magnet configured to retrieve a button battery in the stomach of the patient.