When do I pay Excise Tax?

My Dad & I are co-signers on a mortgage for a home. Im getting a new mortgage in my name only. We would both like this home / mortgage / title to be in my name only. We are both on the Title and we are filing a Quitclaim form to remove his name. Is there a way to legally avoid the Excise tax of 1.75% and how much am I looking at paying? House was worth $140k when we started, worth $260K now.