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Design and build a device for insertion and retraction of biopsy needles. Device must attach to robotic arm developed by ImageGuide in such a fashion that it utilizes their Remote Center of Motion. Once needle is in position it is fired to tumor at rapid velocity, and immediately retracted at rapid velocity. The device must be composed of radiolucent materials, must be compact enough to function in operational CT environment, and must have redundant safety checks.
An internal view of our pneumatic firing system idea is below...
In testing phase of the prototype development. Determining prototype’s ability to fire a needle through varying layers of tissue densities without needle deflection or excessive damage. Currently testing second prototype.
Here is an image of our first prototype, "The Juggernaut".
This is our 2nd prototype, "Metallica", in all its glory!
This is the 2nd prototype, "Metallica", in testing on a pig’s foot. Unfortunately this particular testing session was unsuccessful.
Also, our very own Ryan Augustine has developed these design possibles for a needle mechanism. The idea is to move the two needle parts so that it will effectively take a tissue sample when fired. These needle designs are shown below.
| Week | Reporting Period Beginning | Activities |
|---|---|---|
| 1 | January 23 | Met team members, contacted client, began researching biopsy, robotics, and the possible relations between the two. |
| 2 | January 30 | Continued attempts to meet with client, continued research on biopsy and robotics. |
| 3 | February 6 | Met with client, came up with design ideas for biopsy needle tip and an injection/retraction mechanism. |
| 4 | February 13 | Set up meeting with client and representative from ImageGuide, prepared presentation for next week on our design ideas. |
| 5 | February 20 | Presented to client and ImageGuide representative, discussed possible disclosure of our ideas, decided on best design idea. |
| 6 | February 27 | Decided on three design options, evaluated them, prepared mid-semester presentation and paper. |
| 7 | March 5 | Prepared and executed mid-semester presentation, started working on mid-semester paper. |
| 8 | March 12 | Completed mid-semester paper. |
| 9 | March 19 | Met as a group to discuss ideas presented by Dr. Pozniak, analyze and asses sample needles. |
| 10 | March 26 | Research different types of pneumatic pump mechanisms and electronically controlled valves. |
| 11 | April 2 | Began working on a rough prototype for testing while researching parts for a future, more advanced prototype. |
| 12 | April 9 | Finished prototype on a basic level, trying to obtain animal (specifically pig) body parts for testing. |
| 13 | April 16 | Prototype testing, began working on final presentation. |
| 14 | April 23 | Building 2nd generation prototype, testing prototypes on animal parts, working on final presentation and paper. |
| 15 | April 30 | Finished final presentation and executed, finished final paper, wrapped up work from the semester. |
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Mid-semester Presentation (Mar 6 2004, 692 kb) |
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Mid-semester Paper (Mar 12 2004, 353 kb) |
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Final Poster Presentation (Apr 30 2004, 761 kb) |
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Final Paper (May 5 2004, 4337 kb) |
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Updated Project Design Spec. Sheet (May 5 2004, 34 kb) |
