Transcript 2006-2007 Sim-Pooch - Colorado State University

2006-2007 Sim-Pooch
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Renata Voorhees: [email protected]
Brandon Nino: [email protected]
Tim Bradney: [email protected]
Kelly Galloway: [email protected]
Matt Cain: [email protected]
Michelle Dummer: [email protected]
Outline
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Problem Statement
System Constraints and Criteria
Schematic of System
Physical System
Virtual System
Interfacing
Planned Approach
Preliminary Design and Analysis
Summary
Problem Statement
 The 2006-2007 Sim-Pooch Team plans to create a
canine head prototype which will be used as a
medical tool to educate veterinarians and students
in canine acupuncture.
Problem Statement  System C&C  Schematic of System  Physical System  Virtual System  Interfacing 
Planned Approach  Preliminary Design and Analysis  Summary
System Constraints and Criteria
 User must be able to feel the anatomical
features of a canine head
 User’s movements must be able to be
recorded
 User must be able to be tested
 Location of each cranial acupuncture
point must be identified in the model
accurately
Problem Statement  System C&C  Schematic of System  Physical System  Virtual System  Interfacing 
Planned Approach  Preliminary Design and Analysis  Summary
Simple Diagram
Physical
System
Virtual
System
?
User
Problem Statement  System C&C  Schematic of System  Physical System  Virtual System  Interfacing 
Planned Approach  Preliminary Design and Analysis  Summary
Matrices for Virtual System
Mechanical Data Acquistion
Haptics
Electrical Data Acquistion
Score
Virtual
System
Score
Electr
omagne
tic
Score
Within
Needl
e
Score
Point
Connecti
on
Score
Weight
Pressure Sensor
Score
Temp.
Sensor
Ease Of Use
0.1
5
0.5
6
0.6
4
0.4
7
0.7
3
0.3
2
0.2
Cost
0.05
6
0.3
5
0.25
8
0.4
7
0.35
3
0.15
2
0.1
Expandability
0.05
7
0.35
8
0.4
1
0.05
2
0.1
4
0.2
3
0.15
Sensitivty
0.1
3
0.3
6
0.6
1
0.1
2
0.2
5
0.5
4
0.4
Out Sourcing
0.05
4
0.2
6
0.3
8
0.4
7
0.35
5
0.25
2
0.1
Accuracy
0.15
3
0.45
7
1.05
1
0.15
2
0.3
4
0.6
5
0.75
Total Response
0.15
3
0.45
4
0.6
1
0.15
2
0.3
5
0.75
6
0.9
Material Integration
0.05
4
0.2
6
0.3
1
0.05
2
0.1
3
0.15
5
0.25
Mass Production
0.05
6
0.3
5
0.25
8
0.4
7
0.35
3
0.15
2
0.1
Feasibility
0.25
5
1.25
6
1.5
4
1
7
1.75
3
0.75
2
0.5
Total Score
1
4.3
5.85
3.1
4.5
3.8
3.45
Rank
4
6
1
5
3
2
Continue?
No
No
Yes
No
Yes
Yes
System Schematic
Physical
Model
MRI & CT
Data
AMIRA Solid
Model
Audio/Visual
Feedback
Computer
Processor
User
Haptics
Device
Problem Statement  Schematic of System  Physical System  Virtual System  Interfacing 
Planned Approach  Preliminary Design and Analysis  Summary
Criteria & Constraints
 The proper location of each cranial
acupuncture point must be identified and
implemented in the model.
 The simulator must accurately represent the
contours of the canine.
 Each anatomical layer must simulate the tactile
response from a human perspective.
 The simulator must represent the contours of
the canine.
Problem Statement  Schematic of System  Physical System  Virtual System  Interfacing 
Planned Approach  Preliminary Design and Analysis  Summary
Linking the Physical & Virtual Systems
CT vs. MRI
CT Scan (left):
• Shows bone clearly
• DIACOM format
• Mr. Womack very familiar with
data
MRI Scan (Right):
• Shows muscle/tissue very
clearly
• DIACOM format
• Hard to see bone
Problem Statement  Schematic of System  Physical System  Virtual System  Interfacing 
Planned Approach  Preliminary Design and Analysis  Summary
Converting MRI/CT Data
 AMIRA- advanced
visualization, data
analysis, &
geometry
reconstruction
 Converts DIACOM
data to raw data
 Capable of STL
data (used for
prototyping)
Problem Statement  Schematic of System  Physical System  Virtual System  Interfacing 
Planned Approach  Preliminary Design and Analysis  Summary
Potential Problems
 Flesh does not
show up on scan
 Data format very
complex
 Some areas of
bone/tissue too thin
for accurate data
results
Problem Statement  Schematic of System  Physical System  Virtual System  Interfacing 
Planned Approach  Preliminary Design and Analysis  Summary
Physical System – Advanced Materials
 Strength and Rigidity a necessity
[ref,1Ad] • We want the prototype structure that is robust & will
hold up to constant handling for acupuncturist
training
• A MRI and CT scan will be sent to a rapid
prototyping company to create a laser sintered dog
skull model using nylon 12 resin
• Hydrated cortical bone Young’s modulus
ranges from 6.9±4.3 GPa to 25±4.3 GPa
[ref,1Ad]
• Nylon 12 modulus 1693 MPa ~to SLA’s
but have higher notched impact test and
heat deflection temperature numbers [ref,2Ad]
[ref, 8Ad]
Problem Statement  Schematic of System  Physical System  Virtual System  Interfacing 
Planned Approach  Preliminary Design and Analysis  Summary
Physical System – Advanced Materials
 Reasons for choosing Nylon 12
SLA showing its detail [ref,4Ad]
• Laser Sintered (LS) parts are considerably more
durable than the Stereolithography (SLA) created
parts
• SLA’s resins tend to absorb moister over time
which will cause them to expand and become
more brittle over time [ref,2Ad]
• SLA’s are however more detailed than LS’s but in
our case the level of detail will not be needed
[ref, 2Ad]
Tested at over 100 mph
Nylon 12 sintered VW grill is quick to make
Problem Statement  Schematic of System  Physical System  Virtual System  Interfacing 
Planned Approach  Preliminary Design and Analysis  Summary
Physical System – Advanced Materials
• This company only works in stereolithography and was near $1000 to
make and ship from Round Lake, Illinois
• This company was also expensive and
was above $1795 to make and ship from
Maple Plain, MN
• This was by far the best
Company with BBB recognition,
the locality and their previous
donations to CU Boulder shows
us their interest on helping local
colleges.
• And currently we are working
on getting a donation from them
Problem Statement  Schematic of System  Physical System  Virtual System  Interfacing 
Planned Approach  Preliminary Design and Analysis  Summary
Physical Model – Advanced Materials
 Biomaterials
• Options are: latex, stiff foam, or ballistic
gelatin
• Need of realistic feel for trainee to palpate
the dog head
Look & feel of human tissue [ref,6Ad]
• High Flow is formulated for added
stability and a lower viscosity
High flow foam [ref,7Ad]
Problem Statement  Schematic of System  Physical System  Virtual System  Interfacing 
Planned Approach  Preliminary Design and Analysis  Summary
Physical System - Manufacturing
 Connecting the physical systems
• 3 Physical Systems:
• Haptic
• Canine Manikin
• Computer
• Goals of Physical Stand:
• Integrate all components into one unit
• Integrate all components into one unit
• Make system easy to use
• Ability to move entire system easily
• Lightweight
• Durable
Problem Statement  Schematic of System  Physical System  Virtual System  Interfacing 
Planned Approach  Preliminary Design and Analysis  Summary
Physical System - Manufacturing
 Possible pitfalls
 Problems
• Haptic System has limited reach
• Linkage to stylus may cause difficulty reaching
certain points
• System may be too bulky
 Solutions
• Allow manikin to rotate into set positions
• Several orientations integrated into software
• Make manikin head and Haptic system
removable
Problem Statement  Schematic of System  Physical System  Virtual System  Interfacing 
Planned Approach  Preliminary Design and Analysis  Summary
Virtual System – Real Time Systems
 Desirable characteristics of a haptics interface
device
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Proper ergonomics
Proper force feedback
Multiple program modes
Suitable range of motion
Problem Statement  Schematic of System  Physical System  Virtual System  Interfacing 
Planned Approach  Preliminary Design and Analysis  Summary
Virtual System – Real Time Systems
System Downfalls
SensAble Omni
Immersion Cybergrasp
ForceDimension
3DOF Omega
Relatively Small
Range of Motion
Expensive and
cumbersome
Poor Ease of use
and Expensive
Problem Statement  Schematic of System  Physical System  Virtual System  Interfacing 
Planned Approach  Preliminary Design and Analysis  Summary
Virtual System – Real Time Systems
Weight
SensAble
Omni
Score
SensAble
Premium 1.0
Score
Immersion
Cyber Grasp
Score
Force
Dimension 3
DOF Omega
Score
Ease Of Use
0.2
1
0.2
2
0.4
3
0.6
4
0.8
Cost
0.35
1
0.35
3
1.05
4
1.4
2
0.7
Range of
Motion
0.2
4
0.8
2
0.4
1
0.2
3
0.6
Sensitivity
0.15
3
0.45
1
0.15
3
0.45
2
0.3
Resolution
0.1
3
0.3
2
0.2
4
0.4
1
0.1
Total Score
1
Rank
2.1
2.2
3.05
2.5
1
2
4
3
Problem Statement  Schematic of System  Physical System  Virtual System  Interfacing 
Planned Approach  Preliminary Design and Analysis  Summary
Virtual System – Real Time Systems
 Possible problems
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•
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Limited range of motion
Multiple programs or modes
Extensive programming
Dampened punctual response
Problem Statement  Schematic of System  Physical System  Virtual System  Interfacing 
Planned Approach  Preliminary Design and Analysis  Summary
Virtual System – Physical System
Interfacing
MRI data  AMIRA  Virtual Dog
Problem Statement  Schematic of System  Physical System  Virtual System  Interfacing 
Planned Approach  Preliminary Design and Analysis  Summary
Virtual System – Physical System
Interfacing
 AMIRA
• Supports over 20 standard file formats
• Raw data interface – Developer Pack
• Open Inventor – standard file format for 3D
models
Problem Statement  Schematic of System  Physical System  Virtual System  Interfacing 
Planned Approach  Preliminary Design and Analysis  Summary
Virtual System – Physical System
Interfacing
 Open Inventor
• Built on top of OpenGL
• C++ object oriented 3D graphics API
• API between AMIRA data and C++ program
Problem Statement  Schematic of System  Physical System  Virtual System  Interfacing 
Planned Approach  Preliminary Design and Analysis  Summary
Virtual System – Physical System
Interfacing
 Possible Problems
• AMIRA added nodes to Open Inventor
• Some geometries cannot be saved in Open
Inventor file format.
Problem Statement  Schematic of System  Physical System  Virtual System  Interfacing 
Planned Approach  Preliminary Design and Analysis  Summary
Budget
Commercial Components
SUBTOTAL
19905
Materials Required
SUBTOTAL
800
Supplies and Expendables
SUBTOTAL
900
Total Expense
21605
Availible Funds to Date
25000
Balance
3395
• Sim-Pooch is
sponsored by Dr. Narda
Robinson and Dr. Regina
Schoenfeld
• Wants a working device
to teach students with
• Available funds may
change
Problem Statement  Schematic of System  Physical System  Virtual System  Interfacing 
Planned Approach  Preliminary Design and Analysis  Summary
Budget
• We have the $2,000 Omni
System
• May be inadequate
• Budget Based on
Purchasing $20,000 Haptic
System
Problem Statement  Schematic of System  Physical System  Virtual System  Interfacing 
Planned Approach  Preliminary Design and Analysis  Summary
Project Plan
Summary
 In conclusion, it is the goal of this project
to design an operating, yet preliminary
system, to educate students on the
techniques of acupuncture. The system
will have separate modes to both instruct
and test the students. It will also be
design such that it can be expanded to
other medical fields or disciplines
Problem Statement  Schematic of System  Physical System  Virtual System  Interfacing 
Planned Approach  Preliminary Design and Analysis  Summary
Reference
 Advanced Materials
 1Ad.) Elastic Modulus and Hardness of Bone
J Biomech.1999 Oct 18; 32-10,1005-1012
 2Ad.) www.protogenic.com
 3Ad.) www.protomold.com
 4Ad.) www.3dproto.com
 5Ad.) www.firearmstatistical.com
 6Ad.) http://en.wikipedia.org/wiki/Ballistic_gelatin
 7Ad.) http://www.monstermakers.com/foam.html
 8Ad.) http://www.turbosquid.com/FullPreview/Index.cfm/ID/238272
 Real Time Systems
 Salisbury, K., Conti,F., Barbagli, F. (2004). Haptic Rendering. IEEE
journal, March April
References
 Biomedical
 Images courtesy of: http://www.accg.com/sneuro/procedures4.html
 Images courtesy of Mr. Womack (from CT scan in AMIRA)
Questions?
Physical
Model
MRI & CT
Data
User
AMIRA Solid
Model
Computer
Processor
Audio/Visual
Feedback
Haptics
Device
SensAble Systems
Omni
Desktop
Premium 1.0
Range
6.4 Wx4.8 Hx2.8 D in
(86 in^3)
6.4 Wx4.8 Hx4.8 D in
(147.5 in^3)
10 W x 7 H x 5 D in
(350 in^3)
Price
$2,160
$11,700
$18,405
MRI
 Magnetic Resonance Imaging
 Lay in the isocenter of magnetic field
 Goes through subject, creating a map of tissue types—
puts images together to create 2-D or 3-D model
 DIACOM format
CT Scan
 Computerized Tomography
 Several x-rays sent through body simultaneously at
different angles
 Strength of x-ray measured—detects relative density of
the tissues—create map
 DIACOM format