BME DESIGN 200/300BME DESIGN 200/300MICROSCOPE MANIPULATORMICROSCOPE MANIPULATOR

UW Medical Physics DepartmentUW Medical Physics Department

Contact Info: UWBME.Micromanipulator@gmail.com

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TEAM INFOTEAM INFO

MembersMembers Jonathan BaranJonathan Baran Joe HippensteelJoe Hippensteel Chris WebsterChris Webster Evan RogersEvan Rogers

AdvisorAdvisor Dr. Willis TompkinsDr. Willis Tompkins

Associate Professor, Biomedical Engineering Dept.Associate Professor, Biomedical Engineering Dept.

ClientsClients Dr. Robert JerajDr. Robert Jeraj

Assistant Professor, Medical Physics Dept.Assistant Professor, Medical Physics Dept. Dr. Robert PyzalskiDr. Robert Pyzalski

Senior Scientist, PET Imaging Center: Dept. of RadiologySenior Scientist, PET Imaging Center: Dept. of Radiology

OverviewOverview

Problem StatementProblem Statement MotivationMotivation BackgroundBackground Product SpecificationsProduct Specifications DesignsDesigns DecisionsDecisions Future WorkFuture Work QuestionsQuestions

Problem StatementProblem Statement

Accurate scanning and re-positioning of samples Accurate scanning and re-positioning of samples under a dissecting microscope is inefficient with under a dissecting microscope is inefficient with the equipment currently available to the client. the equipment currently available to the client. The current stage is too large and the imaging The current stage is too large and the imaging and positioning software is outdated. The and positioning software is outdated. The primary goal of this project is to develop a fused primary goal of this project is to develop a fused digitally interfaced stage and custom imaging digitally interfaced stage and custom imaging technique that can systematically do the technique that can systematically do the following: scan a sample of zebra fish, analyze following: scan a sample of zebra fish, analyze the fused images, store the positions of each the fused images, store the positions of each zebra fish and reposition the sample to the zebra fish and reposition the sample to the localized positions.localized positions.

BackgroundBackground

Zebrafish becoming Zebrafish becoming prominent early organismprominent early organism

Advantages of ZebrafishAdvantages of Zebrafish Develop ex utero Develop ex utero

(http://mayoresearch.mayo.edu/mayo/research/zebrafish/)(http://mayoresearch.mayo.edu/mayo/research/zebrafish/)

Embryos are transparent Embryos are transparent Embryogenesis visible at Embryogenesis visible at

single cell resolutionsingle cell resolution Able to view formation of Able to view formation of

neurectoderm, circulatory neurectoderm, circulatory and skeletal systemsand skeletal systems

Courtesy of Purdue University

MotivationMotivation

Current system is not sufficientCurrent system is not sufficient Commercial stages and digital imaging Commercial stages and digital imaging

equipment are extremely expensive equipment are extremely expensive (Approximately $6000-12000)(Approximately $6000-12000)

Product SpecificationsProduct Specifications

ComputerizedComputerized Precision of 50 - 200 µmPrecision of 50 - 200 µm Accommodate a 6cm Petri dishAccommodate a 6cm Petri dish Less than 6 cm tallLess than 6 cm tall Withstand 50 keV of Ionizing radiationWithstand 50 keV of Ionizing radiation

DesignsDesigns Necessary ComponentsNecessary Components

StageStage Digital SteppersDigital Steppers Computer InterfaceComputer Interface CameraCamera Image AnalysisImage Analysis

Commercial Design 1:Commercial Design 1:H105 ProScan™IIH105 ProScan™II

Travel Range - 154 mm x 154 mmTravel Range - 154 mm x 154 mm Minimum Step Size - .04 µmMinimum Step Size - .04 µm Load Capacity - 20 kg (44 lbs)Load Capacity - 20 kg (44 lbs) Stepper Motor - 4 phase, 1 amp per phase, Stepper Motor - 4 phase, 1 amp per phase,

micro steppingmicro stepping

Commercial Design 2:Commercial Design 2:ES111ES111

Travel Range - 126mm x 76mmTravel Range - 126mm x 76mm Minimum Step Size - 1.0 µmMinimum Step Size - 1.0 µm Speed Range - 8mm/s maximumSpeed Range - 8mm/s maximum

Stepper BasicsStepper Basics Holding torque is a good measure of overall power of the Holding torque is a good measure of overall power of the

stepper.stepper.

1 step is measured in degrees.1 step is measured in degrees.

Courtesy of http://www.solarbotic.net

SteppersSteppers Permanent Magnet (PM) Stepper (usually Permanent Magnet (PM) Stepper (usually

7-147-14º)º) Hybrid Stepper (.9-3.2º)Hybrid Stepper (.9-3.2º)

More precision based upon internal rotor and More precision based upon internal rotor and stator construction (8 main poles)stator construction (8 main poles)

.9º desired, due to step size constraints (~200 .9º desired, due to step size constraints (~200 um w/ 10 mm gear)um w/ 10 mm gear)

Commercial SteppersCommercial Steppers2 needed for XY translation2 needed for XY translation

ShinanoShinano Model SST-40C2011Model SST-40C2011

DC Voltage – 6 VoltsDC Voltage – 6 Volts .9.9° per step° per step Hold Torque – 25.67 in-ozHold Torque – 25.67 in-oz Current per phase - .6 Current per phase - .6

AmpsAmps

Model SST-41D1100Model SST-41D1100 DC Voltage – 2.3 VoltsDC Voltage – 2.3 Volts 1.81.8° per step° per step Hold Torque – 32 in-ozHold Torque – 32 in-oz Current per phase – 1 Current per phase – 1

AmpsAmps

Commercial SteppersCommercial Steppers2 needed for XY translation2 needed for XY translation

NMB Technologies CorporationNMB Technologies Corporation Hybrid Motor Series -17PM-K406V Hybrid Motor Series -17PM-K406V

DC Voltage – 3.4 VoltsDC Voltage – 3.4 Volts 1.81.8° per step° per step Hold Torque – 69.38 in-ozHold Torque – 69.38 in-oz Current per phase – 1.4 AmpsCurrent per phase – 1.4 Amps

Danaher MotionDanaher Motion Permanent Magnet – K42NPermanent Magnet – K42N

DC Voltage – UnavailableDC Voltage – Unavailable 1.81.8° per step° per step Hold Torque – 3000 in-ozHold Torque – 3000 in-oz Current per phase – 6.4 AmpsCurrent per phase – 6.4 Amps

Quotes RequestedQuotes Requested Approximately $100-150 eachApproximately $100-150 each

CustomCustom

Custom made Custom made stage in the stage in the Engineering Engineering Machine ShopMachine Shop

CostsCosts MaterialsMaterials Labor - $30 Labor - $30

per hour at 25 per hour at 25 hours ($750)hours ($750)

Computer InterfaceComputer Interface

Labjack U12Labjack U12 12 bit12 bit USB InterfaceUSB Interface $119 a piece$119 a piece

Ocean Controls Stepper Ocean Controls Stepper Motor Interface CardMotor Interface Card Connects and controls Connects and controls

steppers through a steppers through a computercomputer

$50 each$50 each

PCI High Speed Stepper Motor ControllerPCI High Speed Stepper Motor Controller

32 bit BUS that communicates at speeds of 133 MBps 32 bit BUS that communicates at speeds of 133 MBps Communication response time of less than 250 Communication response time of less than 250

nanoseconds nanoseconds capable of driving the stage at step sizes as small as capable of driving the stage at step sizes as small as

0.01 micron 0.01 micron

NI PCI-7342NI PCI-73422-Axis Stepper Controller2-Axis Stepper Controller

2 axes can be configured 2 axes can be configured as either stepper or dc as either stepper or dc motor controllermotor controller

Programming with NI Programming with NI LabVIEW LabVIEW

Compatibility with NI Compatibility with NI Motion Assistant softwareMotion Assistant software

Easy integration with data Easy integration with data acquisition (DAQ) and acquisition (DAQ) and vision systemsvision systems

Mid-range option for Mid-range option for servo motor control servo motor control

CamerasCameras High End Microscope High End Microscope

Digital CamerasDigital Cameras PAXcam PAXcam

PAXcam EDUPAXcam EDU 1.3 Megapixel1.3 Megapixel Includes image stitching Includes image stitching

softwaresoftware $1200$1200

PixelinkPixelink PL-A662 PL-A662

Color Color 1.3 Megapixel1.3 Megapixel Firewire capableFirewire capable $1,500$1,500

PL-A661 PL-A661 Same as above except Same as above except

mono ($1400)mono ($1400)

CamerasCameras

Other AlternativesOther Alternatives Low Cost Digital Camera for MicroscopesLow Cost Digital Camera for Microscopes

1.3 Megapixel $4001.3 Megapixel $400 2.0 Megapixel $9002.0 Megapixel $900

ProblemsProblems Suffer from lack of rigorous product testing Suffer from lack of rigorous product testing

Consumer Digital Camera with Microscope AdapterConsumer Digital Camera with Microscope Adapter Adapter Adapter

$350 for numerous models of consumer cameras$350 for numerous models of consumer cameras ProblemsProblems

Consumer quality cameras may contain defects which can Consumer quality cameras may contain defects which can only be seen under light microscopesonly be seen under light microscopes

Primary lens on the camera can not be removed, so Primary lens on the camera can not be removed, so microscope optics may be compromised due to camera’s microscope optics may be compromised due to camera’s primary lensprimary lens

Image ProcessingImage Processing

Zebrafish in Freqency Domain

100 200 300 400 500 600

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Zebrafish in Spatial Domain

100 200 300 400 500 600

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SPATIAL DOMAIN FREQUENCY DOMAIN

Image ProcessingImage Processing

Zebrafish in Spatial Domain

100 200 300 400 500 600

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Image Convolved

100 200 300 400 500 600

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Image ProcessingImage Processing

MATLABMATLAB Filter Design (~20 x 20 pixels)Filter Design (~20 x 20 pixels) Translation and RotationTranslation and Rotation

PAX-ITPAX-IT Automated Image StitchingAutomated Image Stitching Comes with cameraComes with camera

Zebrafish in Spatial Domain

350 355 360 365 370 375 380

315

320

325

330

335

340

345

350

DecisionsDecisions

StageStage SteppersSteppers CameraCamera Computer InterfaceComputer Interface Image ProcessingImage Processing

Future WorkFuture Work

Acquire necessary materialsAcquire necessary materials Build functioning prototypeBuild functioning prototype Filter designFilter design Integration between imaging software and Integration between imaging software and

stepper software essentialstepper software essential

ReferencesReferences

Collodi, P. “Neuronal Cell Differentiation in Zebrafish.” Collodi, P. “Neuronal Cell Differentiation in Zebrafish.” http://http://www.psych.purdue.eduwww.psych.purdue.edu/ ~/ ~punweb/faculty/collodi.htmpunweb/faculty/collodi.htm

““Industrial Circuits Application Note: Stepper Motor Industrial Circuits Application Note: Stepper Motor Basics.” Basics.” http://www.solarbotics.net/library/pdflib/pdf/http://www.solarbotics.net/library/pdflib/pdf/ motorbas.pdfmotorbas.pdf

Questions?Questions?

Email our team questions or Email our team questions or constructive criticism at constructive criticism at

UWBME.Micromanipulator @gmail.com