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CiiS Lab
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112 Hackerman Hall
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Russell Taylor
127 Hackerman Hall
rht@jhu.edu

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courses:456:2023:projects:456-2023-22:project-22 [2023/05/11 03:36] – [Reports and presentations] xliu226courses:456:2023:projects:456-2023-22:project-22 [2023/05/15 19:37] (current) – [Reports and presentations] xliu226
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 {{ :courses:456:2023:projects:456-2023-22:ishot_2023-02-27_00.27.01.png?400 |}} {{ :courses:456:2023:projects:456-2023-22:ishot_2023-02-27_00.27.01.png?400 |}}
 ====Design Assumptions==== ====Design Assumptions====
-  - Clinician will scan the region using ultrasound and decide on the insertion site and angle. +  - Clinician’s role: The clinician will scan the region using ultrasound and decide on the insertion site and angle, ensuring the robot’s focus is on the insertion process. 
-  - The guidewire used will be straight without a J-tip.  +  - Guidewire type: The guidewire used will be straight without a J-tip, simplifying the design requirements for the guidewire advancement mechanism.  
-  - Dilators will not be used in the insertion process. +  - No dilators: Dilators will not be used in the insertion process, reducing the complexity of the robotic system. 
-  - The clinician will manually retract the needle and guidewire. +  - Manual retraction: The clinician will manually retract the needle and guidewire, allowing the robot to concentrate on insertion tasks. 
-  - The syringe will be detachable from the needle without the need for a twisting motion. +  - Detachable syringe: The syringe will be detachable from the needle without the need for a twisting motion, easing the robot’s needle insertion mechanism design. 
-  - The clinician will load the guidewire and catheter onto the robot system.+  - Clinician’s assistance: The clinician will load the guidewire and catheter onto the robot system, simplifying the design requirements for object handling.
 ====Design Specifications==== ====Design Specifications====
-  - The robot should have an angular workspace of around 10 degrees to 45 degrees relative to the skin.  +  - Angular workspace: The robot should have an angular workspace of around 10 degrees to 45 degrees relative to the skin, ensuring a suitable range of insertion angles.  
-  - The robot should have a precision of at least 1mm in all movements with an accuracy of 90%. +  - Degrees of freedom: The robot should have 2 rotational degrees of freedom and 2 translational degrees of freedom, enabling precise positioning and movement during the procedure. 
-  - The robot should be able to insert an 18-gauge needle at an angle of 30-40 degrees (see [16]) and a depth of 2-6 cm (refer to [17]). +  - Precision and accuracy: The robot should have a precision of at least 1mm in all movements with an accuracy of 90%, ensuring reliable and consistent performance. 
-  - The robot should be able to advance about 10-15 cm of a 50 cm guidewire (see [18]). +  - Needle insertion parameters: The robot should be able to insert an 18-gauge needle at an angle of 30-40 degrees (see [16]) and a depth of 2-6 cm (refer to [17]), conforming to standard central line placement guidelines. 
-  - The robot should be able to insert a guidewire with a diameter of 0.035 inches (see [16]) through the needle. +  - Guidewire advancement: The robot should be able to advance about 10-15 cm of a 50 cm guidewire (see [18]), ensuring proper placement within the target vessel. 
-  - The robot should be able to insert a catheter with a size 8.0 French (refer to [16]).  +  - Guidewire compatibility: The robot should be able to insert a guidewire with a diameter of 0.035 inches (see [16]) through the needle, accommodating standard guidewire sizes. 
-  - The robot should be able to indicate the remote center of motion.+  - Catheter compatibility: The robot should be able to insert a catheter with a size 8.0 French (refer to [16]), conforming to standard central line catheter sizes. 
 +  - Remote center of motion indication: The robot should be able to indicate the remote center of motion, providing guidance and ensuring proper alignment during the procedure.
 ====Robot Design==== ====Robot Design====
 The robotic system consists of five parts: the base, the arc, and the carriage, the needle insertion actuator, and the guidewire & catheter advancement actuator. It has 2 rotational degrees of freedom (DoF) and 2 translational DoF. The angular workspace of insertion is 13 degrees to 50 degrees relative to the skin, and the depth workspace is 19.8 mm to 67.4 mm. The mechanical remote center of motion (RCM) is 8.5 mm above the skin. The robotic system consists of five parts: the base, the arc, and the carriage, the needle insertion actuator, and the guidewire & catheter advancement actuator. It has 2 rotational degrees of freedom (DoF) and 2 translational DoF. The angular workspace of insertion is 13 degrees to 50 degrees relative to the skin, and the depth workspace is 19.8 mm to 67.4 mm. The mechanical remote center of motion (RCM) is 8.5 mm above the skin.
 {{ :courses:456:2023:projects:456-2023-22:overall_design.png?600 |}} {{ :courses:456:2023:projects:456-2023-22:overall_design.png?600 |}}
 +{{ :courses:456:2023:projects:456-2023-22:picture1.jpg?600 |}}
  
 The base includes a GelPort and a rigid base. The base includes a GelPort and a rigid base.
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 The guidewire & catheter advancement actuator is as shown. Similar to the structure of the needle insertion actuator, there is a rack on the back of the actuator, which is coordinated with the pinion on the carriage. There is a guide rail on the rack, which is coordinated with the slider on the carriage. A detachable guidewire & catheter feeder is held on the actuator, allowing the guidewire and catheter to go through and restricting the direction of their movements. The feeder is coordinated with a roller driven by a step motor to advance the guidewire and catheter. The guidewire & catheter advancement actuator is as shown. Similar to the structure of the needle insertion actuator, there is a rack on the back of the actuator, which is coordinated with the pinion on the carriage. There is a guide rail on the rack, which is coordinated with the slider on the carriage. A detachable guidewire & catheter feeder is held on the actuator, allowing the guidewire and catheter to go through and restricting the direction of their movements. The feeder is coordinated with a roller driven by a step motor to advance the guidewire and catheter.
-{{ :courses:456:2023:projects:456-2023-22:gc1.png?200 |}} +{{ :courses:456:2023:projects:456-2023-22:gc1new.png?200 |}} 
-{{ :courses:456:2023:projects:456-2023-22:gc2.png?200 |}}+{{ :courses:456:2023:projects:456-2023-22:gc2new.png?200 |}}
  
 ====Image Guidance and User Interface==== ====Image Guidance and User Interface====
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     * {{ :courses:456:2023:projects:456-2023-22:cis_ii_background_readings_summary.pdf |Project Background Reading report}}     * {{ :courses:456:2023:projects:456-2023-22:cis_ii_background_readings_summary.pdf |Project Background Reading report}}
   * Design Specifications   * Design Specifications
-    * {{ :courses:456:2023:projects:456-2023-22:designdocument.pdf |Design Document}} +    * {{ :courses:456:2023:projects:456-2023-22:robotic_system_for_central_line_placement.pdf |Design Document}} 
-    * {{ :courses:456:2023:projects:456-2023-22:specifications.pdf |Design Specifications}}+    * {{ :courses:456:2023:projects:456-2023-22:specifications3.pdf |Design Specifications}}
   * Project Checkpoint   * Project Checkpoint
     * {{ :courses:456:2023:projects:456-2023-22:cis_ii_mentor_meeting.pdf |Checkpoint Presentation}}     * {{ :courses:456:2023:projects:456-2023-22:cis_ii_mentor_meeting.pdf |Checkpoint Presentation}}
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   * Project Final Report   * Project Final Report
     * {{ :courses:456:2023:projects:456-2023-22:cis_ii_final_report.pdf |Final Report}}     * {{ :courses:456:2023:projects:456-2023-22:cis_ii_final_report.pdf |Final Report}}
 +  * Project Mentor Report
 +    * {{ :courses:456:2023:projects:456-2023-22:cis_2_project_evaluation_team_22_axel_and_lydia.docx |Mentor Report}}
 +  * Other resources 
 +    * {{ :courses:456:2023:projects:456-2023-22:cis_2_reassemble.zip |CAD file}}
 +
  
 ======Project Bibliography======= ======Project Bibliography=======
courses/456/2023/projects/456-2023-22/project-22.1683776216.txt.gz · Last modified: by xliu226




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