MADRID Measurement Apparatus to Distinguish Rotational and Irrotational Displacement
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Transcript of MADRID Measurement Apparatus to Distinguish Rotational and Irrotational Displacement
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MADRIDMeasurement Apparatus to Distinguish Rotational and Irrotational Displacement
Rafael OrtizGraduate student
Universidad de Valladolid (Spain)
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MADRID
Problem to solve Reasons of choosing this option Description of the device First result Conclusion
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Introduction
High accuracy in microsurgery• Vitreoretinal microsurgery MICRON• Neurosurgery LASER MICRON
Involuntary movement of the hand hinder the desired accuracy.
Tremor Jerk Drift
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Vitreoretinal microsurgery
Five degree of freedom Two rotation Three translation
Tip tracking
↓↓↓
ASAP
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Vitreoretinal microsurgery
Four degree of freedom Two rotation Two translation
Laser tracking
↓↓↓
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Options to solve the problem
Gyros.
CCD camera
MADRID
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Use a par of gyros
Translation information is missing
Device should be useful for laser micron calibration.
Impossible to set a gyros above a laser ray
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CCD camera
High speed ( 100 fps ) High accuracy ↔ High resolution Very expensive system
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MADRID
First idea: Only two dots are required to draw a line. If the laser is tracking in two different positions , the
angle may be calculated
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21arctan
AA
BB
A1 A2
B1
B2
Point 1
Point 2
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3D problem
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Configuration
Position SensingDetector #1
Position SensingDetector #2
DATAoutput
PowerInverse Bias
Band pass Optical filter
Standard Cube Beam splitter
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Bandpass optical filter
Benefit: eliminate most of the ambient light
Type: 10LF20-670 C. Wavelength:
667.3nm FWHM: 19.4nm P. Transmission:
53.1%
10LF20-670, Newport, Irvine, CA
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Laser Diode
Focusable Laser Features:
CWWavelengths670nm ±10nm,
DiameterLDM, Circular: 5mm;
Focus Range LDM, Circular: 150mm to Infinity;
NT38-920,Edmund optics, Barrington, NJ
0.5m 1m 2m 5m
<0.5 <0.5 <1 1
Spot Size (mm) at DistanceSpot Size (mm) at Distance
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Standard Cube Beamsplitter
BS CUBE STANDARD 12.5MM TS
Size: 12.5mm x 12.5mm Reflection : 50 % Transmission : 50 %
NT45-111, Edmund optics, Barrington, NJ
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Position Sensing Detector
1 cm2 square PSD & associated amplifier circuit.
Voltage analogd of the X,Y and spot intensity
Reverse Bias is applied
DL 100- 7PCBA ,Pacific Silicon Sensor Inc. ,Westlake Village, CA
Sum(y)Ch7V(y)Ch6
Sum(x)Ch5V(x)Ch4PSD #2
Sum(y)Ch3V(y)Ch2
Sum(x)Ch1V(x)Ch0PSD #1
FormulaMeaningChannel
10
11 ChChAx
32
11 ChChBy
54
22 ChChAx
76
22 ChChBy
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Calculation of two angles
da
xxArc 21tan
da
yyArc 21tan
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Calculation of displacement
tan1 cbaxg x
tan1 cbayg y
tan2 cbdxg x
tan2 cbdyg y
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General Scheme
Ch6Ch5Ch4
Ch3Ch2Ch1Ch0
FilterBand pass
Cutoff 22Hz
Y1
X2
Y2
Transform volts into microns
Laser
Ambient light
Band pass Opt filter
Laser
Beam splitter
Ch7
ADcard
PSD#1
PSD#2
Subtract Offset
Transform microns into angles and
positions
X1
Alpha Beta
Gx Gy
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First Result
Different modes Only translation Only angle Angle and translation
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Only translation
Redundant data (alpha and beta must be null) Two studies
Full Range (step 0.04 inch or 1mm) Small step (step 2 mil or 50 micron)
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Full Range (only translation)
-2500 -2000 -1500 -1000 -500 0 500 1000 1500 2000 2500-2500
-2000
-1500
-1000
-500
0
500
1000
1500
2000
2500Final PSD1 & PSD2 in micron
Xaxis(micron)
Yax
is(m
icro
n)
8.7268
6.4684
-0.0058
-0.0058
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Small Step
6.7942
4.0104
-8.8044
-2.1234
-600 -500 -400 -300 -200 -100 0 100 200 300 400 500 600-600
-500
-400
-300
-200
-100
0
100
200
300
400
500
600
X axis(microns)
Y a
xis(
mic
rons
)
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Only angles
Wheel to reach different orientation
of angle ALPHA
Wheel to reach different orientation
of angle BETA
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Angle (Alpha)
0 5 10 15 20 25 30 35 40 45-1.5
-1
-0.5
0
0.5
1
1.5
Set of data
Alp
ha(D
egre
es)
Real measurment of angleReading with MADADError
Error
Range =2.5653°
Maximum Error 0.0268 °
Linearity =1.04%
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Angle (Beta)
0 5 10 15 20 25-1.5
-1
-0.5
0
0.5
1
Set of data
Bet
a(D
egre
es)
Real measurement of angleReading with MADADError
Range =2.2526°
Maximum Error 0.0517°
Linearity =2.29%
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Angle in completed mode
0 500 1000 1500 2000 2500 3000 3500 4000 4500-0.035
-0.03
-0.025
-0.02
time(millisecond)
Rot
atio
n A
lpha
(deg
ree)
0 500 1000 1500 2000 2500 3000 3500 4000 45000.41
0.415
0.42
0.425
0.43
time(millisecond)
Rot
atio
n B
eta(
degr
ee)
Standard derivation of error
in alphaStd alpha
0.0022° ≈ 8’’
Standard derivation of error
in betaStd alpha
0.0022° ≈ 8’’
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Translation in completed mode
0 500 1000 1500 2000 2500 3000 3500 4000 45001135
1140
1145
1150
1155
1160
1165
time(millisecond)
Pos
ition
Gx
(mic
ron)
0 500 1000 1500 2000 2500 3000 3500 4000 4500125
130
135
140
145
150
time(millisecond)
Pos
ition
Gy(
mic
ron)
Standard derivation of error
in x translationStd Gx error
4.1876 micron
Standard derivation of error
in alphaStd Gy error
4.0152 micron
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Real tremor (Rotation)
0 1000 2000 3000 4000 5000 6000 7000 8000 9000 10000-2.5
-2
-1.5
-1
time (millisecond)
rota
tion
alph
a (d
egre
e)
0 1000 2000 3000 4000 5000 6000 7000 8000 9000 10000-4.6
-4.4
-4.2
-4
-3.8
time (millisecond)
rota
tion
beta
(de
gree
)
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Real tremor (translation)
0 1000 2000 3000 4000 5000 6000 7000 8000 9000 100004000
4500
5000
5500
6000
6500
7000
time(millisecond)
tran
slat
ion
gx (
mic
ron)
0 1000 2000 3000 4000 5000 6000 7000 8000 9000 100007500
8000
8500
9000
9500
10000
10500
time (millisecond)
tran
slat
ion
gy (
mic
ron)
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Conclusion