Ultrasonic Probe Manipulator

Group: Chris WeisheimTim PommerRishi GovalakrishnanAlan Koers

Mentor: Dr. Jie Chen

Sponsor: IU Medical School

Department of Mechanical Engineering, IUPUI

Capstone Project, SP 2006

Overview

Introduction Reason for Design Requirements of Design Targets Final Concept Product Demonstration Product Evaluation Impact Recommendations Question and Answer

Reason for Design

To develop a device for holding an ultrasound probe while conducting lithotripsy tests

Main Requirements

Hold probe against test specimen Meet space constraints Waterproof Controlled by external source

Targets

Engineering Specifications Units D.o.I. Target

Range of vertical movement of hand in ↑ 0.5

Resolution of rotational movement of hand deg ↓ 2

Range of lateral movement in ↑ 0.5

Total Cost $ ↓ 5000

Base Mounting Configurations # ↑ 2

Motor Power oz-in ↑ 50

Time of Set Up Min ↓ 5

# of tools for adjustments # ↓ 1

Range of angular movement of hand deg ↑ 20

Time Between Maintenance. Days ↑ 30

Final Concept

Threaded Rod

Arm/Hub

O.R. Shoulder Bolt

Bracket

Rod

Threaded Bolt

Anchor

O.R. Bearing

Outer Ring I.R. Threaded Insert

Inner Ring

C.A.D. Assembly Components

Concentric Ring Design

Controller

Software-driven controller Graphic interfaced software Runs on Windows OS Allows for easy control of

device Can make fine adjustments

easily and remotely

Evaluation

Prototype was evaluated: Against customer requirements Against engineering specifications With ANSYS for FEA

Product Evaluation

Engineering Specifications Units D.o.I. Target ActualTarget

Met

Range of vertical movement of hand in ↑ 0.5 4  

Resolution of rotational movement of hand deg ↓ 2 1  

Range of lateral movement in ↑ 0.5 2  

Total Cost $ ↓ 5000 1300  

Base Mounting Configurations # ↑ 2 1   X

Motor Power oz-in ↑ 50 76  

Time of Set Up Min ↓ 5 5  

# of tools for adjustments # ↓ 1 4   X

Range of angular movement of hand deg ↑ 20 30  

Time Between Maintenance Days ↑ 30 30  

Impact

Safety Hands free manipulation

Environmental Bio-friendly

Society Aids in improving impacts of Lithotripsy experiments

on the blood flow in the kidneys

Recommendations

Future Work: Enhance controller Longer, less rigid flexible shafts Adjustable grip for different probe

sizes Enhanced locking mechanisms

QUESTION AND ANSWER