Putnam 1981 B2

Determine the minimum value of $$(r-1)^2 + \left(\frac{s}{r}-1 \right)^2 + \left(\frac{t}{s}-1 \right)^{2} + \left( \frac{4}{t} -1 \right)^2$$ for all real numbers $1\leq r \leq s \leq t \leq 4.$