1. P15073: Autonomous IV Stand Detailed Design: High and Medium Risk
Michael Binger, Caitlin Conway, Nick Goddard, Nick Jacobs, Christina Pysher, & Ethan Whritenor
Thursday November 13, 2014

2. Topics Covered CAD Model Use Scenarios (updated)
Functional Decomposition
High and Medium Risk Subsystem Feasibility
Drawings
Wiring Diagrams
Test Plan
Critical Parts
P15073: Autonomous IV Stand

3. CAD Model P15073: Autonomous IV Stand
The image on the far Right is the view of the full apparatus, in the middle is a front view, on the left top you can see a top view, and a bottom view.
Note the addition of the push pull cables, these will be used to lift the motors which will be mounted to the blue base. The will lock in place with the collar found about 2 ft from the bottom.
Also not the addition of the lever arm for the tether, this is an integral portion of the tracking system and is located about 33in from the ground. This is located here because that is the average height of an adults waist, and the tether will go to the waist.
P15073: Autonomous IV Stand

4. Use Scenarios 13 years or older
Not recommended for patients who recently had abdominal surgery
Not recommended for high traffic areas of a hospital (Emergency Department)
Maneuvering the device…..
P15073: Autonomous IV Stand

5. Scenario 1: Patient has surgery
P15073: Autonomous IV Stand

6. Implements with bed frame.
Detaches from base.
Implements with bed frame.
Allows staff to use less personnel to transport.
Scenario 2: Patient is transported in bed to new location
P15073: Autonomous IV Stand

7. Easily implemented with wheel chair.
Detaches from base.
Easily implemented with wheel chair.
Allows patient more independence.
Scenario 3: Patient is transported in wheelchair
P15073: Autonomous IV Stand

8. Detects patient is mobile.
Follows at safe distance.
Allows patient access to proper support.
Scenario 4: Patient goes for walk
P15073: Autonomous IV Stand

9. Omni wheels lift up
Nurse maneuvers IV stand manually
Allows for flexibility of the device
Scenario 5: Manually Push IV Stand

11. High Risk Subsystems Provide Power Maintain Proximity Avoid Objects
Deliver IV Bags
P15073: Autonomous IV Stand

12. Provide Power
P15073: Autonomous IV Stand

13. Materials to Provide Power
P15073: Autonomous IV Stand

14. Power Feasibility Calculations
P15073: Autonomous IV Stand

15. Maintain Proximity
P15073: Autonomous IV Stand

16. Materials For Drive Sub-System
P15073: Autonomous IV Stand

17. Feasibility 8” Omni-wheels needed instead of 6”
Omni-wheels enable us to make quick and accurate adjustments to direction
Motor provides torque required to move stand at specified RPM’s
Motor will mount to the sides of the base shell
The motor will connect to the wheels by a shaft and hub design ensuring that the torque is directly translated to the wheel.
P15073: Autonomous IV Stand

18. Feasibility Aluminum Rod-Al 6061 -High yield strength -Cost effective
-deflection not an issue
Set screw
-fits our design parameters
P15073: Autonomous IV Stand

19. CMU Pixy Camera vs. Tether with Encoder
Pixy Camera - provides unreliable feedback
Encoder - provide constant feedback
Pixy Camera - needed to be tested to understand its capabilities
Encoder - straight forward implementation
Pixy Camera - patient must wear a vest to determine their location
Encoder - patient must wear a belt to determine their location
Both options include an additional tether attached to the patient for safety
Feasibility
P15073: Autonomous IV Stand

20. CMU Pixy Camera vs. Tether with Encoder
We chose the tether with encoder option to detect the patient due to its straight forward implementation and its ability to provide constant feedback on the patient’s position.
Encoder
Potentiometer
Feasibility
P15073: Autonomous IV Stand

21. Material for Following Sub-System
The 90 degree angle purchased from McMaster will be machined for our purposes.
The sheet metal parts will be cut on the waterjet from the aluminum sheet that is also being used for the cover on the base.
P15073: Autonomous IV Stand

22. Lower Assembly Will be bolted to the base
A retractable keychain will also bolt to the aluminum angle
The rotary encoder will mount to the angle with the provided panel nut

23. Aluminum Angle Needs Machining
Machine in RIT shop
The dimensions of the retractable spool are not currently known

24. Upper Assembly
Will affix to the larger telescoping tube at a specific height from the ground
The tether will feed up from the lower assembly
The sheet metal arm provides a moment to easily turn the potentiometer

25. Pole Flange
Will be made on the waterjet along with the base cover and arm
Will mount to tapped holes on shaft collar
Potentiometer will mount from bottom with panel nut

26. Sheet Metal Arm
Will be made on the waterjet along with the base cover and pole flange
The two ends will be bent to 90 degrees as shown
Have not yet spoken with the machine shop about best material thicknesses for bending

27. Standoff needs Machining
The standoff from McMaster will be machined down to 6mm in order to fit with shaft coupler that is attached to the potentiometer

28. Avoid Objects
P15073: Autonomous IV Stand

29. Material to Avoid Objects
Perform measurements between moving or stationary objects
Provides precise, non-contact distance measurements within a 2 cm to 3 m range
Burst indicator LED shows measurement in progress
Simple pulse-in/pulse-out communication
P15073: Autonomous IV Stand

30. Deliver IV Bags
P15073: Autonomous IV Stand

31. Materials to Deliver IV Bags
P15073: Autonomous IV Stand

32. Medium Risk Subsystems
Provide Feedback
Manually Maneuver IV Stand (Raise Omni-Wheels)
P15073: Autonomous IV Stand

33. Omni-Wheel Lifting Mechanism
This system uses push-pull cables (shown in the top left) to move the inner blue base The path of the push pull cables is shows by the red lines in the CAD model.
They will attach to a collar which can move up and down. This is a standard shaft collar which will have the appropriate number of holes drilled in it.
Omni-Wheel Lifting Mechanism
P15073: Autonomous IV Stand

34. Provide Feedback
P15073: Autonomous IV Stand

35. Materials for Providing Feedback
P15073: Autonomous IV Stand

36. Mechanical Drawings Base Top pole Bottom pole
Top Shell
Flat Bottom
Top pole
Bottom pole
Wheel Hub and Drive Shaft
P15073: Autonomous IV Stand

37. Made of UHMW Polyethylene
Base drawings
Made of UHMW Polyethylene
P15073: Autonomous IV Stand

38. Motor flat
¼” sheet aluminum
P15073: Autonomous IV Stand

39. Base shell
⅛” sheet aluminum
P15073: Autonomous IV Stand

40. Top Pole
P15073: Autonomous IV Stand

41. Bottom Pole
P15073: Autonomous IV Stand

42. Wheel Hub and Drive Shaft
P15073: Autonomous IV Stand

43. Risk Management
P15073: Autonomous IV Stand

44. Risk Management
P15073: Autonomous IV Stand

45. Risk Management
P15073: Autonomous IV Stand

46. Risk Management
P15073: Autonomous IV Stand

47. Ergonomic Analysis
Estimate height at which to place the potentiometer on the IV stand
Goal: place it as close as possible to the waist height of the patient
Need to find the average waist height of all patients 13 years old and up
NHANES (National Health and Nutrition Survey) only provides data for body height of participants
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P15073: Autonomous IV Stand

48. Waist Height = 0.530 * Body Height
Source: Drillid R. Contini, Body Segment Parameters, New York, New York: Office of Vocational Rehabilitation; 1966 Report No. : No
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P15073: Autonomous IV Stand

49. Ergonomic Analysis: Waist Height
Female
Male
Source: Anthropometric Reference Data for Children and Adults: United States, 2007–2010 and
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P15073: Autonomous IV Stand

50. Electrical Diagrams
All sensors use a total of 50 Digital I/O pins and 4 analog pins
54 Digital I/O pins (15 are PWM), 16 analog pins
P15073: Autonomous IV Stand

51. LCD screen and Fan

52. Stackable Motor Controller

53. Stackable Motor Controller

54. Pseudo Code
P15073: Autonomous IV Stand

55. Risk Management
P15073: Autonomous IV Stand

56. Preliminary Test Plan Tensile Strength Testing
UHMW - Tensile Strength 5800 psi
Can also withstand temperatures of 180 deg F
Electrical Component Testing
Motor Controller and Motors
Micro Controller, Potentiometer, and Rotary Encoder
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P15073: Autonomous IV Stand

57. MSD II Test Plan
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P15073: Autonomous IV Stand

58. MSD II Test Plan
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P15073: Autonomous IV Stand

59. Critical Parts
Will be purchased with $500 through MSD (cost of critical parts = $477.32)
Needed for preliminary testing
The remaining $ will be purchased through Innovation Center
Total cost (w/ shipping)= $
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P15073: Autonomous IV Stand

60. Project Plan - High and Medium Risk
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P15073: Autonomous IV Stand

61. Remaining Action Items
Low Risk Subsystem Feasibility
Finalize all Drawings and Diagrams
Finalize BOM
including all hardware and wires
Create MSD II Project Plan
including a purchasing plan
Follow up with Dr. DeMartino to work on the grant application process
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P15073: Autonomous IV Stand

62. Project Plan - Low Risk
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P15073: Autonomous IV Stand

63. Questions?
P15073: Autonomous IV Stand

64. What We Want From The Audience
Is there anything that we are failing to consider? Do you see any challenges with our design we have failed to observe?
P15073: Autonomous IV Stand

65. Thank You
P15073: Autonomous IV Stand