BME DESIGN 200/300 MICROSCOPE MANIPULATOR UW Medical Physics Department Contact Info:

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TEAM INFO  Members  Jonathan Baran  Joe Hippensteel  Chris Webster  Evan Rogers  Advisor  Dr. Willis Tompkins  Associate Professor, Biomedical Engineering Dept.  Clients  Dr. Robert Jeraj  Assistant Professor, Medical Physics Dept.  Dr. Robert Pyzalski  Senior Scientist, PET Imaging Center: Dept. of Radiology

Overview  Problem Statement  Motivation  Background  Product Specifications  Designs  Decisions  Future Work  Questions

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 The current stage is too large and the imaging and positioning software is outdated.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

Background  Zebrafish becoming prominent early organism  Advantages of Zebrafish  Develop ex utero (  Embryos are transparent  Embryogenesis visible at single cell resolution  Able to view formation of neurectoderm, circulatory and skeletal systems Courtesy of Purdue University

Motivation  Current system is not sufficient  Commercial stages and digital imaging equipment are extremely expensive (Approximately $ )

Product Specifications  Computerized  Precision of µm  Accommodate a 6cm Petri dish  Less than 6 cm tall  Withstand 50 keV of Ionizing radiation

Designs  Necessary Components  Stage  Digital Steppers  Computer Interface  Camera  Image Analysis

Commercial Design 1: H105 ProScan™II  Travel Range mm x 154 mm  Minimum Step Size -.04 µm  Load Capacity - 20 kg (44 lbs)  Stepper Motor - 4 phase, 1 amp per phase, micro stepping

Commercial Design 2: ES111  Travel Range - 126mm x 76mm  Minimum Step Size µm  Speed Range - 8mm/s maximum

Stepper Basics  Holding torque is a good measure of overall power of the stepper.  1 step is measured in degrees. Courtesy of

Steppers  Permanent Magnet (PM) Stepper (usually 7-14º)  Hybrid Stepper (.9-3.2º)  More precision based upon internal rotor and stator construction (8 main poles) .9º desired, due to step size constraints (~200 um w/ 10 mm gear)

Commercial Steppers 2 needed for XY translation  Shinano  Model SST-40C2011  DC Voltage – 6 Volts .9° per step  Hold Torque – in-oz  Current per phase -.6 Amps  Model SST-41D1100  DC Voltage – 2.3 Volts  1.8° per step  Hold Torque – 32 in-oz  Current per phase – 1 Amps

Commercial Steppers 2 needed for XY translation  NMB Technologies Corporation  Hybrid Motor Series -17PM-K406V  DC Voltage – 3.4 Volts  1.8° per step  Hold Torque – in-oz  Current per phase – 1.4 Amps  Danaher Motion  Permanent Magnet – K42N  DC Voltage – Unavailable  1.8° per step  Hold Torque – 3000 in-oz  Current per phase – 6.4 Amps  Quotes Requested  Approximately $ each

Custom  Custom made stage in the Engineering Machine Shop  Costs  Materials  Labor - $30 per hour at 25 hours ($750)

Computer Interface  Labjack U12  12 bit  USB Interface  $119 a piece  Ocean Controls Stepper Motor Interface Card  Connects and controls steppers through a computer  $50 each

PCI High Speed Stepper Motor Controller  32 bit BUS that communicates at speeds of 133 MBps  Communication response time of less than 250 nanoseconds  capable of driving the stage at step sizes as small as 0.01 micron

NI PCI Axis Stepper Controller  2 axes can be configured as either stepper or dc motor controller  Programming with NI LabVIEW  Compatibility with NI Motion Assistant software  Easy integration with data acquisition (DAQ) and vision systems  Mid-range option for servo motor control

Cameras  High End Microscope Digital Cameras  PAXcam  PAXcam EDU  1.3 Megapixel  Includes image stitching software  $1200  Pixelink  PL-A662  Color  1.3 Megapixel  Firewire capable  $1,500  PL-A661  Same as above except mono ($1400)

Cameras  Other Alternatives  Low Cost Digital Camera for Microscopes  1.3 Megapixel $400  2.0 Megapixel $900  Problems  Suffer from lack of rigorous product testing  Consumer Digital Camera with Microscope Adapter  Adapter  $350 for numerous models of consumer cameras  Problems  Consumer quality cameras may contain defects which can only be seen under light microscopes  Primary lens on the camera can not be removed, so microscope optics may be compromised due to camera’s primary lens

Image Processing SPATIAL DOMAINFREQUENCY DOMAIN

Image Processing

 MATLAB  Filter Design (~20 x 20 pixels)  Translation and Rotation  PAX-IT  Automated Image Stitching  Comes with camera

Decisions  Stage  Steppers  Camera  Computer Interface  Image Processing

Future Work  Acquire necessary materials  Build functioning prototype  Filter design  Integration between imaging software and stepper software essential

References  Collodi, P. “Neuronal Cell Differentiation in Zebrafish.” ~punweb/faculty/collodi.htm ~punweb/faculty/collodi.htmwww.psych.purdue.edu/ ~punweb/faculty/collodi.htm  “Industrial Circuits Application Note: Stepper Motor Basics.” motorbas.pdf

Questions? our team questions or constructive criticism at Questions? our team questions or constructive criticism at