2006-2007 Sim-Pooch

2006-2007 Sim-Pooch2006-2007 Sim-Pooch

Renata Voorhees: [email protected] Renata Voorhees: [email protected] Brandon Nino: [email protected] Nino: [email protected] Tim Bradney: [email protected] Bradney: [email protected] Kelly Galloway: [email protected] Galloway: [email protected] Matt Cain: [email protected] Cain: [email protected] Michelle Dummer: [email protected] Dummer: [email protected]

OutlineOutline

Problem StatementProblem Statement System Constraints and CriteriaSystem Constraints and Criteria Schematic of SystemSchematic of System Physical SystemPhysical System Virtual SystemVirtual System InterfacingInterfacing Planned ApproachPlanned Approach Preliminary Design and AnalysisPreliminary Design and Analysis SummarySummary

Problem StatementProblem Statement

The 2006-2007 Sim-Pooch Team plans to create a canine The 2006-2007 Sim-Pooch Team plans to create a canine head prototype which will be used as a medical tool to head prototype which will be used as a medical tool to educate veterinarians and students in canine acupuncture.educate veterinarians and students in canine acupuncture.

Problem StatementProblem Statement System C&C System C&C Schematic of System Schematic of System Physical System Physical System Virtual System Virtual System Interfacing Interfacing Planned Approach Planned Approach Preliminary Design and Analysis Preliminary Design and Analysis Summary Summary

System Constraints and System Constraints and CriteriaCriteria

User must be able to feel the anatomical User must be able to feel the anatomical features of a canine headfeatures of a canine head

User’s movements must be able to be User’s movements must be able to be recordedrecorded

User must be able to be testedUser must be able to be tested Location of each cranial acupuncture Location of each cranial acupuncture

point must be identified in the model point must be identified in the model accuratelyaccurately

Problem Statement Problem Statement System C&CSystem C&C Schematic of System Schematic of System Physical System Physical System Virtual System Virtual System Interfacing Interfacing Planned Approach Planned Approach Preliminary Design and Analysis Preliminary Design and Analysis Summary Summary

Simple Diagram Simple Diagram

Physical System

User

Virtual System

?

Problem Statement Problem Statement System C&C System C&C Schematic of SystemSchematic of System Physical System Physical System Virtual System Virtual System Interfacing Interfacing Planned Approach Planned Approach Preliminary Design and Analysis Preliminary Design and Analysis Summary Summary

Matrices for Virtual SystemMatrices for Virtual System

Mechanical Data Acquistion Haptics Electrical Data Acquistion

Weight Pressure Sensor ScoreTemp. Sensor Score

Virtual System Score

Electro-

magnetic Score

Within Needl

e Score

Point Connecti

on Score

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 SchematicSystem Schematic

MRI & CT Data

Audio/Visual Feedback

Haptics Device

UserPhysical

Model

AMIRA Solid Model

ComputerProcessor

Problem Statement Problem Statement Schematic of SystemSchematic of System Physical System Physical System Virtual System Virtual System Interfacing Interfacing

Planned Approach Planned Approach Preliminary Design and Analysis Preliminary Design and Analysis Summary Summary

Criteria & ConstraintsCriteria & Constraints

The proper location of each cranial The proper location of each cranial acupuncture point must be identified and acupuncture point must be identified and implemented in the model. implemented in the model.

The simulator must accurately represent the The simulator must accurately represent the contours of the canine. contours of the canine.

Each anatomical layer must simulate the tactile Each anatomical layer must simulate the tactile response from a human perspective. response from a human perspective.

The simulator must represent the contours of The simulator must represent the contours of the canine.the canine.

Problem Statement Problem Statement Schematic of System Schematic of System Physical SystemPhysical System Virtual System Virtual System Interfacing Interfacing Planned Approach Planned Approach Preliminary Design and Analysis Preliminary Design and Analysis Summary Summary

Linking the Physical & Virtual Linking the Physical & Virtual SystemsSystemsCT vs. MRICT vs. MRI

Problem Statement Problem Statement Schematic of System Schematic of System Physical SystemPhysical System Virtual System Virtual System Interfacing Interfacing


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

Converting MRI/CT DataConverting MRI/CT Data

AMIRA- advanced AMIRA- advanced visualization, data visualization, data analysis, & analysis, & geometry geometry reconstructionreconstruction

Converts DIACOM Converts DIACOM data to raw datadata to raw data

Capable of STL Capable of STL data (used for data (used for prototyping)prototyping)


Potential ProblemsPotential Problems

Flesh does not Flesh does not show up on scanshow up on scan

Data format very Data format very complexcomplex

Some areas of Some areas of bone/tissue too thin bone/tissue too thin for accurate data for accurate data resultsresults


Physical System – Advanced Physical System – Advanced MaterialsMaterials Strength and Rigidity a necessityStrength and Rigidity a necessity

• 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 rapidprototyping 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’sbut have higher notched impact test and heat deflection temperature numbers [ref,2Ad]


[ref,1Ad]

[ref, 8Ad]

Physical System – Advanced Physical System – Advanced MaterialsMaterials Reasons for choosing Nylon 12Reasons for choosing Nylon 12

• 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 inour case the level of detail will not be needed

Nylon 12 sintered VW grill is quick to makeTested at over 100 mph

SLA showing its detail [ref,4Ad]

[ref, 2Ad]


Physical System – Advanced MaterialsPhysical 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 fromMaple 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


Physical Model – Advanced MaterialsPhysical Model – Advanced Materials BiomaterialsBiomaterials

• Options are: latex, stiff foam, or ballistic gelatin • Need of realistic feel for trainee to palpate the dog head

• High Flow is formulated for added stability and a lower viscosity

High flow foam [ref,7Ad]

Look & feel of human tissue [ref,6Ad]


Physical System - ManufacturingPhysical System - Manufacturing

Connecting the physical systemsConnecting 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• DurableProblem Statement Problem Statement Schematic of System Schematic of System Physical SystemPhysical System Virtual System Virtual System Interfacing Interfacing


Physical System - ManufacturingPhysical System - Manufacturing

Possible pitfalls Problems

• Haptic System has limited reachHaptic System has limited reach• Linkage to stylus may cause difficulty reaching Linkage to stylus may cause difficulty reaching

certain pointscertain points• System may be too bulkySystem may be too bulky

Solutions• Allow manikin to rotate into set positionsAllow manikin to rotate into set positions• Several orientations integrated into softwareSeveral orientations integrated into software• Make manikin head and Haptic system Make manikin head and Haptic system

removableremovable


Virtual System – Real Time SystemsVirtual System – Real Time Systems

Desirable characteristics of a haptics interface Desirable characteristics of a haptics interface devicedevice• Proper ergonomicsProper ergonomics• Proper force feedbackProper force feedback• Multiple program modesMultiple program modes• Suitable range of motionSuitable range of motion

Problem Statement Problem Statement Schematic of System Schematic of System Physical System Physical System Virtual SystemVirtual System Interfacing Interfacing



System DownfallsSystem Downfalls

SensAble Omni Immersion CybergraspForceDimension 3DOF Omega

Relatively Small Range of Motion

Expensive and cumbersome

Poor Ease of use and Expensive

Problem Statement Problem Statement Schematic of System Schematic of System Physical System Physical System Virtual SystemVirtual System Interfacing Interfacing Planned Approach Planned Approach Preliminary Design and Analysis Preliminary Design and Analysis Summary Summary


WeightSensAble

OmniScore

SensAble Premium 1.0

ScoreImmersion

Cyber GraspScore

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 2.1 2.2 3.05 2.5

Rank 1 2 4 3



Possible problemsPossible problems• Limited range of motionLimited range of motion• Multiple programs or modesMultiple programs or modes• Extensive programmingExtensive programming• Dampened punctual responseDampened punctual response


Virtual System – Physical System Virtual System – Physical System InterfacingInterfacing

MRI data AMIRA Virtual Dog

Problem Statement Problem Statement Schematic of System Schematic of System Physical System Physical System Virtual System Virtual System InterfacingInterfacing



AMIRAAMIRA• Supports over 20 standard file formatsSupports over 20 standard file formats• Raw data interface – Developer PackRaw data interface – Developer Pack• Open Inventor – standard file format for 3D Open Inventor – standard file format for 3D

modelsmodels



Open InventorOpen Inventor• Built on top of OpenGLBuilt on top of OpenGL• C++ object oriented 3D graphics APIC++ object oriented 3D graphics API• API between AMIRA data and C++ programAPI between AMIRA data and C++ program



Possible ProblemsPossible Problems• AMIRA added nodes to Open InventorAMIRA added nodes to Open Inventor• Some geometries cannot be saved in Open Some geometries cannot be saved in Open

Inventor file format.Inventor file format.


BudgetBudget

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 Problem Statement Schematic of System Schematic of System Physical System Physical System Virtual System Virtual System Interfacing Interfacing

Planned ApproachPlanned Approach Preliminary Design and Analysis Preliminary Design and Analysis Summary Summary

BudgetBudget

• We have the $2,000 Omni We have the $2,000 Omni SystemSystem

• May be inadequateMay be inadequate

• Budget Based on Budget Based on Purchasing $20,000 Haptic Purchasing $20,000 Haptic SystemSystem

Problem Statement Problem Statement Schematic of System Schematic of System Physical System Physical System Virtual System Virtual System Interfacing Interfacing Planned ApproachPlanned Approach Preliminary Design and Analysis Preliminary Design and Analysis Summary Summary

Project PlanProject Plan

SummarySummary

In conclusion, it is the goal of this project In conclusion, it is the goal of this project to design an operating, yet preliminary to design an operating, yet preliminary system, to educate students on the system, to educate students on the techniques of acupuncture. The system techniques of acupuncture. The system will have separate modes to both instruct will have separate modes to both instruct and test the students. It will also be and test the students. It will also be design such that it can be expanded to design such that it can be expanded to other medical fields or disciplines other medical fields or disciplines

Problem Statement Problem Statement Schematic of System Schematic of System Physical System Physical System Virtual System Virtual System Interfacing Interfacing

Planned Approach Planned Approach Preliminary Design and Analysis Preliminary Design and Analysis SummarySummary

ReferenceReference Advanced MaterialsAdvanced Materials

1Ad.) Elastic Modulus and Hardness of Bone1Ad.) Elastic Modulus and Hardness of BoneJ Biomech.1999 Oct 18; 32-10,1005-1012J Biomech.1999 Oct 18; 32-10,1005-1012

2Ad.) 2Ad.) www.protogenic.comwww.protogenic.com 3Ad.) 3Ad.) www.protomold.comwww.protomold.com 4Ad.) 4Ad.) www.3dproto.comwww.3dproto.com 5Ad.) 5Ad.) www.firearmstatistical.comwww.firearmstatistical.com 6Ad.) 6Ad.) http://http://en.wikipedia.org/wiki/Ballistic_gelatinen.wikipedia.org/wiki/Ballistic_gelatin 7Ad.) 7Ad.) http://http://www.monstermakers.com/foam.htmlwww.monstermakers.com/foam.html 8Ad.) http://www.turbosquid.com/FullPreview/Index.cfm/ID/2382728Ad.) http://www.turbosquid.com/FullPreview/Index.cfm/ID/238272

Real Time SystemsReal Time Systems Salisbury, K., Conti,F., Barbagli, F. (2004). Haptic Rendering. IEEE Salisbury, K., Conti,F., Barbagli, F. (2004). Haptic Rendering. IEEE

journal, March Apriljournal, March April

ReferencesReferences

BiomedicalBiomedical Images courtesy of:

http://www.accg.com/s-neuro/procedures4.html Images courtesy of Mr. Womack (from CT scan in AMIRA)

Questions?Questions?

MRI & CT Data

Audio/Visual Feedback

Haptics Device

UserPhysical

Model

AMIRA Solid Model

ComputerProcessor

SensAble SystemsSensAble Systems

OmniOmni DesktopDesktop Premium 1.0Premium 1.0

RangeRange6.4 Wx4.8 Hx2.8 D in6.4 Wx4.8 Hx2.8 D in

(86 in^3)(86 in^3)

6.4 Wx4.8 Hx4.8 D in6.4 Wx4.8 Hx4.8 D in

(147.5 in^3)(147.5 in^3)

10 W x 7 H x 5 D in10 W x 7 H x 5 D in

(350 in^3)(350 in^3)

PricePrice $2,160$2,160 $11,700$11,700 $18,405$18,405

MRIMRI

Magnetic Resonance ImagingMagnetic Resonance Imaging

Lay in the isocenter of magnetic fieldLay in the isocenter of magnetic field

Goes through subject, creating a map of tissue types—Goes through subject, creating a map of tissue types—puts images together to create 2-D or 3-D modelputs images together to create 2-D or 3-D model

DIACOM formatDIACOM format

CT ScanCT Scan

Computerized Tomography Computerized Tomography

Several x-rays sent through body simultaneously at Several x-rays sent through body simultaneously at different anglesdifferent angles

Strength of x-ray measured—detects relative density of Strength of x-ray measured—detects relative density of the tissues—create mapthe tissues—create map

DIACOM formatDIACOM format

Documents

2006-2007 Sim-Pooch