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MIT Course 2.75 & CIMITBringing Doctors & Graduate Student Design Teams Together

(Designing and Operating Medical Gizmo Design Courses)

Prof. Alexander H. SlocumMacVicar Faculty Teaching Fellow

Department of Mechanical EngineeringMassachusetts Institute of Technology77 Massachusetts Avenue, Room 3-445

Cambridge, MA 02139617.253.0012 617-258-6427 (fax) slocum@mit.edu

http://pergatory.mit.edu

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Working with Industry to Create Precision Machines

•Moore Tool PAMT for Defense Logistics Agency •Moore Tool 5-axis Contour Mill•Moore Nanotech 150 Aspheric Grinder•Weldon 1632 Gold Cylindrical Grinder•CoorsTek all-ceramic grinder•NCMS Cluster Spindle•OMAX JetMachining™ Centers•Elk Rapids 5 axis cutter grinder•NCMS HydroBushing™ and HydroSpindle™•Teradyne K-Dock System, Manipulator & Apollo Sorter•SNK Hexapod (aircraft production)•…!

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Course Description

• 2.75 teaches FUNdaMENTALS of design– Lectures for first 6 weeks– First week N doctors present “here is my problem, and I wish I had a gizmo…”

• Students self organize into teams to work with a doctor to develop and test a proof-of-concept gizmo

• Students are driven by passion:– Not all doctors projects are selected– All assignments focused on the project

• Weekly quizzes make sure students do the assigned reading• Presentation:

– Students present work to each other and doctors for review of strategies, concepts and final presentation

– Students create a final report of journal quality and also prepare a draft patent presentation

– Each student must also clearly show their part

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Project Conf. Jou. Patent Product AwardsDr Bamberg helped to run the course

Refractometer medical filed yesSaul Griffith Lemelson Student Prize

Cathbot medicalFlextester II instrument yesParallel Robots machine tool yes yesMesoMiill machine tool yes yesXay optics instrument yes yesNanofibertester instrument yes yesMagnabots medical yes 6,886,651Low cost KCs machine tool yesRheometer instrument yes

Eyeglass edger medical yesSaul Griffith Lemelson Student Prize

Bike Shifter instrument

Papers2001 2.75 Projects

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Project Conf. Jou. Patent Product AwardsProf Culpepper helped run the course

Mitral folded valve medical yesMandible Distraction Ostogenosis Device medicalSoft Materials Tester instrument yes yesXYZ Flexural stage and drive amplifier instrument yesOptics mounts instrument yesOptics Z-drive instrument yesLow cost plate alignment machine tool yes yes

Nanogate actuation instrument yes yes 6,914,785 yes

4th place 100K, Active Spectrum Inc. piezo controller product

Down hole oil well power generation machine toolAxtrusion machine tool yes yes yesNovel Nanomanipulators instrumentDesktop Milling Machine machine tool yes yesPDMS valve instrument

Papers2003 2.75 Projects

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Project Conf. Jou. Patent Product AwardsPulse Duplicator

Robotic Biopsy medical yes yes filed yes1st place IDEAS and 100K competitions

Dialysis shunt alternative medicalACL Injector medical yes yes filed yesBiopsy needle medical yes yes filed yes

2004 2.75 ProjectsPapers

Project Conf. Jou. Patent Product AwardsDental miller medicalCardiac Port for Minimally Invasive Heart Surgery medical yes (in progress) filed yesFascia closer medicalNegative Pressure Wound Device medical yes filed yes

2005 2.75 ProjectsPapers

Project Conf. Jou. Patent Product AwardsMulti-port MorcellatorEndoscopic Stapling Device medical (in progress) in progress likelyAn Improved Rongeur To Prevent Cerebrospinal Fluid Leaks In Spine Surgery. medical yes filed yesPer-Oral Gastric Restriction Device medicalPediatric Oral Syringe To Enhance Swallowing Behavior medical filed likelyImplantable Abdominal Port medical likely likely

2006 2.75 ProjectsPapers

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Deterministic Design: Funnels: StrategiesConceptsModulesComponents

• Deterministic Design leaves LOTS of room for the wild free creative spirit, and LOTS of room for experimentation and play

• Deterministic Design is a catalyst to funnel creativity into a successful design

• It is OK to iterate…– A goal is to never have to

backtrack• A good engineer,

however, knows when its time to let go…

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61 2 3 4 5

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Strategy: Plan or tactics to score but there may be many different types of machines that could be used

Concept: An idea for a specific machine that can execute a strategy

Module: A sub assembly of a machine that by itself executes a certain function

Component: An individual part

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FUNdaMENTAL Principles

Topics • Occam’s Razor• Saint-Venant’s Principle• Golden Rectangle• Abbe’s Principle• Maxwell & Reciprocity• Self-Principles• Stability• Symmetry• Parallel Axis Theorem• Accuracy, Repeatability, Resolution• Sensitive Directions & Reference Features• Structural Loops• Free Body Diagrams & Superposition• Preload• Centers of Action• Exact Constraint Design• Elastically Averaged Design• Stick Figures

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Reality

• Teams are critical:– Doctors are clearly excited, are development team members, and meet as needed– Students like working on real problems– The prof. must be a practicing gizmologist and meets weekly with the student teams

• Projects must be carefully selected to be doable in 12 weeks:– CIMIT: Lynne Osborne & Dr.Tom Brady are critical gatherers and filters– 2003 some medical projects, some non-medical projects– 2004, 2005, 2006 focus on medical projects only– Each project receives a budget of about $5000

• All projects have succeeded in delivering a proof-of-concept gizmo– Some are more successful than others– Several Projects have gone on to CIMIT funded projects:

• Streamline Injection System for Enhanced ACL Repair• ROBOPSY A remote needle guidance system for percutaneous lung biopsy• Monolithic Endoscopic Core Biopsy Needle• CardioDoor

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Motor & Gear

Push Button and Flow Regulator

Heater Bearing

CO2 TankQuick

Release Connection

Battery

Nozzle for CO2 and

Goo

Needle for Goo

Collapsible Auger Dual Seal-Piston

CO2 Septum

Trigger Bearing Slide

Example: Streamline Injection System for Enhanced ACL Repair

Matthew Carvey, Alexey Salamini, Dan Walker, Ying-chih Wang, Dr. Martha Murray, Prof. Alex Slocum

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Example: ROBOPSY A remote needle guidance system for percutaneouslung biopsy

Nevan Hanumara, Conor Walsh, Stephen Barret, Dr. Rajiv Gupta, Dr. Sheri Shepard,

Prof. Alex. Slocum

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Example:CardioDoor

Christopher DiBiasio , Keith Durand, Jon Hopkins, Zach Traina, Prof. Alex Slocum,

Dr. Pedro Del Nido, Dr. Nikolay Vasilyev

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Conclusions• 2.75 takes a LOT of work before, during, and after…

– Potential projects must be selected for presentation– Doctors must prepare and give presentations

• The doctors are critical members of the team as both the customer and active team member

• The course itself– Design is not cookbook, and we have to produce real hardware– Projects that are very successful have patents filed– Many conference papers and journal articles– Presentations at CIMIT Forum

Total instrument projects 12Total machine tool projects 7Total medical projects 19Total conference papers 21Total journal papers 15Total patents 12Total projects being productized 13

2.75 2001-2006 Summary