Dustin Borg, ME Patrick Henley, BME Ali Husain, BME Nick Stroeher, BME Advisor: Dr. Joel Barnett.
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Transcript of BME DESIGN 200/300 MICROSCOPE MANIPULATOR UW Medical Physics Department Contact Info:...
BME DESIGN 200/300BME DESIGN 200/300MICROSCOPE MANIPULATORMICROSCOPE MANIPULATOR
UW Medical Physics DepartmentUW Medical Physics Department
Contact Info: [email protected]
Intellectual PropertyIntellectual Property All information provided by individuals or Design Project Groups during All information provided by individuals or Design Project Groups during
this or subsequent presentations is the property of the University and of this or subsequent presentations is the property of the University and of the researchers presenting this information. In addition, any information the researchers presenting this information. In addition, any information provided herein may include results sponsored by and provided to a provided herein may include results sponsored by and provided to a member company of the Biomedical Engineering Student Design member company of the Biomedical Engineering Student Design Consortium (SDC). The above information may include intellectual Consortium (SDC). The above information may include intellectual property rights belonging to the University to which the SDC may have property rights belonging to the University to which the SDC may have license rights. license rights.
Anyone to whom this information is disclosed: Anyone to whom this information is disclosed: 1) Agrees to use this information solely for purposes related to this 1) Agrees to use this information solely for purposes related to this
review;review; 2) Agrees not to use this information for any other purpose unless 2) Agrees not to use this information for any other purpose unless
approved in advance by the Project Group, the Client / SDC, and the approved in advance by the Project Group, the Client / SDC, and the Advisor;Advisor;
3) Agrees to keep this information in confidence until the University and 3) Agrees to keep this information in confidence until the University and the relevant parties listed in Part (2) above have evaluated and secured the relevant parties listed in Part (2) above have evaluated and secured any applicable intellectual property rights in this information;any applicable intellectual property rights in this information;
4) Acknowledges that worldwide patent rights are waived if publication 4) Acknowledges that worldwide patent rights are waived if publication or public dissemination occur prior to filing a corresponding U.S. or public dissemination occur prior to filing a corresponding U.S. provisional or utility patent application. provisional or utility patent application.
TEAM INFOTEAM INFO
MembersMembers Jonathan BaranJonathan Baran Joe HippensteelJoe Hippensteel Chris WebsterChris Webster Evan RogersEvan Rogers
AdvisorAdvisor Dr. Willis TompkinsDr. Willis Tompkins
Associate Professor, Biomedical Engineering Dept.Associate Professor, Biomedical Engineering Dept.
ClientsClients Dr. Robert JerajDr. Robert Jeraj
Assistant Professor, Medical Physics Dept.Assistant Professor, Medical Physics Dept. Dr. Robert PyzalskiDr. Robert Pyzalski
Senior Scientist, PET Imaging Center: Dept. of RadiologySenior Scientist, PET Imaging Center: Dept. of Radiology
OverviewOverview
Problem StatementProblem Statement MotivationMotivation BackgroundBackground Product SpecificationsProduct Specifications DesignsDesigns DecisionsDecisions Future WorkFuture Work QuestionsQuestions
Problem StatementProblem Statement
Accurate scanning and re-positioning of samples Accurate scanning and re-positioning of samples under a dissecting microscope is inefficient with under a dissecting microscope is inefficient with the equipment currently available to the client. the equipment currently available to the client. The current stage is too large and the imaging The current stage is too large and the imaging and positioning software is outdated. The and positioning software is outdated. The primary goal of this project is to develop a fused primary goal of this project is to develop a fused digitally interfaced stage and custom imaging digitally interfaced stage and custom imaging technique that can systematically do the technique that can systematically do the following: scan a sample of zebra fish, analyze following: scan a sample of zebra fish, analyze the fused images, store the positions of each the fused images, store the positions of each zebra fish and reposition the sample to the zebra fish and reposition the sample to the localized positions.localized positions.
BackgroundBackground
Zebrafish becoming Zebrafish becoming prominent early organismprominent early organism
Advantages of ZebrafishAdvantages of Zebrafish Develop ex utero Develop ex utero
(http://mayoresearch.mayo.edu/mayo/research/zebrafish/)(http://mayoresearch.mayo.edu/mayo/research/zebrafish/)
Embryos are transparent Embryos are transparent Embryogenesis visible at Embryogenesis visible at
single cell resolutionsingle cell resolution Able to view formation of Able to view formation of
neurectoderm, circulatory neurectoderm, circulatory and skeletal systemsand skeletal systems
Courtesy of Purdue University
MotivationMotivation
Current system is not sufficientCurrent system is not sufficient Commercial stages and digital imaging Commercial stages and digital imaging
equipment are extremely expensive equipment are extremely expensive (Approximately $6000-12000)(Approximately $6000-12000)
Product SpecificationsProduct Specifications
ComputerizedComputerized Precision of 50 - 200 µmPrecision of 50 - 200 µm Accommodate a 6cm Petri dishAccommodate a 6cm Petri dish Less than 6 cm tallLess than 6 cm tall Withstand 50 keV of Ionizing radiationWithstand 50 keV of Ionizing radiation
DesignsDesigns Necessary ComponentsNecessary Components
StageStage Digital SteppersDigital Steppers Computer InterfaceComputer Interface CameraCamera Image AnalysisImage Analysis
Commercial Design 1:Commercial Design 1:H105 ProScan™IIH105 ProScan™II
Travel Range - 154 mm x 154 mmTravel Range - 154 mm x 154 mm Minimum Step Size - .04 µmMinimum Step Size - .04 µm Load Capacity - 20 kg (44 lbs)Load Capacity - 20 kg (44 lbs) Stepper Motor - 4 phase, 1 amp per phase, Stepper Motor - 4 phase, 1 amp per phase,
micro steppingmicro stepping
Commercial Design 2:Commercial Design 2:ES111ES111
Travel Range - 126mm x 76mmTravel Range - 126mm x 76mm Minimum Step Size - 1.0 µmMinimum Step Size - 1.0 µm Speed Range - 8mm/s maximumSpeed Range - 8mm/s maximum
Stepper BasicsStepper Basics Holding torque is a good measure of overall power of the Holding torque is a good measure of overall power of the
stepper.stepper.
1 step is measured in degrees.1 step is measured in degrees.
Courtesy of http://www.solarbotic.net
SteppersSteppers Permanent Magnet (PM) Stepper (usually Permanent Magnet (PM) Stepper (usually
7-147-14º)º) Hybrid Stepper (.9-3.2º)Hybrid Stepper (.9-3.2º)
More precision based upon internal rotor and More precision based upon internal rotor and stator construction (8 main poles)stator construction (8 main poles)
.9º desired, due to step size constraints (~200 .9º desired, due to step size constraints (~200 um w/ 10 mm gear)um w/ 10 mm gear)
Commercial SteppersCommercial Steppers2 needed for XY translation2 needed for XY translation
ShinanoShinano Model SST-40C2011Model SST-40C2011
DC Voltage – 6 VoltsDC Voltage – 6 Volts .9.9° per step° per step Hold Torque – 25.67 in-ozHold Torque – 25.67 in-oz Current per phase - .6 Current per phase - .6
AmpsAmps
Model SST-41D1100Model SST-41D1100 DC Voltage – 2.3 VoltsDC Voltage – 2.3 Volts 1.81.8° per step° per step Hold Torque – 32 in-ozHold Torque – 32 in-oz Current per phase – 1 Current per phase – 1
AmpsAmps
Commercial SteppersCommercial Steppers2 needed for XY translation2 needed for XY translation
NMB Technologies CorporationNMB Technologies Corporation Hybrid Motor Series -17PM-K406V Hybrid Motor Series -17PM-K406V
DC Voltage – 3.4 VoltsDC Voltage – 3.4 Volts 1.81.8° per step° per step Hold Torque – 69.38 in-ozHold Torque – 69.38 in-oz Current per phase – 1.4 AmpsCurrent per phase – 1.4 Amps
Danaher MotionDanaher Motion Permanent Magnet – K42NPermanent Magnet – K42N
DC Voltage – UnavailableDC Voltage – Unavailable 1.81.8° per step° per step Hold Torque – 3000 in-ozHold Torque – 3000 in-oz Current per phase – 6.4 AmpsCurrent per phase – 6.4 Amps
Quotes RequestedQuotes Requested Approximately $100-150 eachApproximately $100-150 each
CustomCustom
Custom made Custom made stage in the stage in the Engineering Engineering Machine ShopMachine Shop
CostsCosts MaterialsMaterials Labor - $30 Labor - $30
per hour at 25 per hour at 25 hours ($750)hours ($750)
Computer InterfaceComputer Interface
Labjack U12Labjack U12 12 bit12 bit USB InterfaceUSB Interface $119 a piece$119 a piece
Ocean Controls Stepper Ocean Controls Stepper Motor Interface CardMotor Interface Card Connects and controls Connects and controls
steppers through a steppers through a computercomputer
$50 each$50 each
PCI High Speed Stepper Motor ControllerPCI High Speed Stepper Motor Controller
32 bit BUS that communicates at speeds of 133 MBps 32 bit BUS that communicates at speeds of 133 MBps Communication response time of less than 250 Communication response time of less than 250
nanoseconds nanoseconds capable of driving the stage at step sizes as small as capable of driving the stage at step sizes as small as
0.01 micron 0.01 micron
NI PCI-7342NI PCI-73422-Axis Stepper Controller2-Axis Stepper Controller
2 axes can be configured 2 axes can be configured as either stepper or dc as either stepper or dc motor controllermotor controller
Programming with NI Programming with NI LabVIEW LabVIEW
Compatibility with NI Compatibility with NI Motion Assistant softwareMotion Assistant software
Easy integration with data Easy integration with data acquisition (DAQ) and acquisition (DAQ) and vision systemsvision systems
Mid-range option for Mid-range option for servo motor control servo motor control
CamerasCameras High End Microscope High End Microscope
Digital CamerasDigital Cameras PAXcam PAXcam
PAXcam EDUPAXcam EDU 1.3 Megapixel1.3 Megapixel Includes image stitching Includes image stitching
softwaresoftware $1200$1200
PixelinkPixelink PL-A662 PL-A662
Color Color 1.3 Megapixel1.3 Megapixel Firewire capableFirewire capable $1,500$1,500
PL-A661 PL-A661 Same as above except Same as above except
mono ($1400)mono ($1400)
CamerasCameras
Other AlternativesOther Alternatives Low Cost Digital Camera for MicroscopesLow Cost Digital Camera for Microscopes
1.3 Megapixel $4001.3 Megapixel $400 2.0 Megapixel $9002.0 Megapixel $900
ProblemsProblems Suffer from lack of rigorous product testing Suffer from lack of rigorous product testing
Consumer Digital Camera with Microscope AdapterConsumer Digital Camera with Microscope Adapter Adapter Adapter
$350 for numerous models of consumer cameras$350 for numerous models of consumer cameras ProblemsProblems
Consumer quality cameras may contain defects which can Consumer quality cameras may contain defects which can only be seen under light microscopesonly be seen under light microscopes
Primary lens on the camera can not be removed, so Primary lens on the camera can not be removed, so microscope optics may be compromised due to camera’s microscope optics may be compromised due to camera’s primary lensprimary lens
Image ProcessingImage Processing
Zebrafish in Freqency Domain
100 200 300 400 500 600
50
100
150
200
250
300
350
400
450
500
Zebrafish in Spatial Domain
100 200 300 400 500 600
50
100
150
200
250
300
350
400
450
500
SPATIAL DOMAIN FREQUENCY DOMAIN
Image ProcessingImage Processing
Zebrafish in Spatial Domain
100 200 300 400 500 600
50
100
150
200
250
300
350
400
450
500
Image Convolved
100 200 300 400 500 600
50
100
150
200
250
300
350
400
450
500
Image ProcessingImage Processing
MATLABMATLAB Filter Design (~20 x 20 pixels)Filter Design (~20 x 20 pixels) Translation and RotationTranslation and Rotation
PAX-ITPAX-IT Automated Image StitchingAutomated Image Stitching Comes with cameraComes with camera
Zebrafish in Spatial Domain
350 355 360 365 370 375 380
315
320
325
330
335
340
345
350
DecisionsDecisions
StageStage SteppersSteppers CameraCamera Computer InterfaceComputer Interface Image ProcessingImage Processing
Future WorkFuture Work
Acquire necessary materialsAcquire necessary materials Build functioning prototypeBuild functioning prototype Filter designFilter design Integration between imaging software and Integration between imaging software and
stepper software essentialstepper software essential
ReferencesReferences
Collodi, P. “Neuronal Cell Differentiation in Zebrafish.” Collodi, P. “Neuronal Cell Differentiation in Zebrafish.” http://http://www.psych.purdue.eduwww.psych.purdue.edu/ ~/ ~punweb/faculty/collodi.htmpunweb/faculty/collodi.htm
““Industrial Circuits Application Note: Stepper Motor Industrial Circuits Application Note: Stepper Motor Basics.” Basics.” http://www.solarbotics.net/library/pdflib/pdf/http://www.solarbotics.net/library/pdflib/pdf/ motorbas.pdfmotorbas.pdf