Project Documents
Reports and Presentations
- Presentation 1: Initial research into project and field
- Presentation 2: Design comparisons and mathmatical modeling
- Presentation 3: Proposal and validation of final design
- Report 1: Details of first half of semester
- Report 2: Full documentaion of semester progress
Prototypes
- Prototype 1: Initial test of translational system and Arduino code
- Prototype 2: Initial test of rotational system and Arduino controlled stepper motors
Build Updates
Project Gallery
Full System Design
Translation System Assembly
This design was made according to research and modeling found in the above documents. The bottom component contains the motor attached to a driving roller and a plain bearing on a steel shaft. The catheter is fed through the small hole seen in the center right of the image. The motor is given a small step size to provide incremental pushes to the catheter and the urethane rollers provide enough friction to guide any catheter. The top section can be seen guided by the four vertical shafts placed into the bottom component. The top section contains two more urethane rollers aligned with those on the bottom and is weighted to add more friction to the system.
Rotation System Assembly
The rotation model was made in a similar way to the translation system. However, to induce rotation, the catheter is feed axially to the bearings. This allows for a twisting motion to be applied onto the catheter over the pushing force caused by the translation system. Like the translation, the bottom section contains space for a motor and driver wheel. The catheter is held in place as it rotates by the small hole in the back of the model. The top component supports a single bearing and provides a downward push on the catheter to help restrain it as it rotates.
Sensor System Assembly
This sensor system allows the movement of the motor to be recorded. As the motor turns the driver roller, the reactionary forces are transfered through the lever arm. The load cell on the other end of the lever records the movement and outpus a voltage signal to the arduino.
Fall 2024 Gantt Chart
Schedule for the fall semester wih all major assignments and the time frame established to complete them
Spring 2025 Gantt Chart
Current schedule for the spring semester wih all major assignments and the time frame established to complete them
Spring 2025 Budget Summary
Current budget as of mid spring semester