1. Ultrasonic Probe Manipulator Group:Chris Weisheim Tim Pommer Rishi Govalakrishnan Alan Koers Mentor: Dr. Jie Chen Sponsor: IU Medical School Department of Mechanical Engineering, IUPUI Capstone Project, SP 2006

2. Overview Introduction Reason for Design Requirements of Design Targets Final Concept Product Demonstration Product Evaluation Impact Recommendations Question and Answer

3. Reason for Design To develop a device for holding an ultrasound probe while conducting lithotripsy tests

4. Main Requirements Hold probe against test specimen Meet space constraints Waterproof Controlled by external source

5. Targets Engineering SpecificationsUnitsD.o.I.Target Range of vertical movement of hand in↑ 0.5 Resolution of rotational movement of hand deg↓ 2 Range of lateral movement in↑ 0.5 Total Cost $↓ 5000 Base Mounting Configurations #↑ 2 Motor Poweroz-in ↑ 50 Time of Set UpMin ↓ 5 # of tools for adjustments# ↓ 1 Range of angular movement of handdeg ↑ 20 Time Between Maintenance.Days ↑ 30

6. Final Concept

7. Threaded Rod Arm/Hub O.R. Shoulder Bolt Bracket Rod Threaded Bolt Anchor O.R. Bearing Outer Ring I.R. Threaded Insert Inner Ring C.A.D. Assembly Components

8. Concentric Ring Design

9. Controller Software-driven controller Graphic interfaced software Runs on Windows OS Allows for easy control of device Can make fine adjustments easily and remotely

10. Evaluation Prototype was evaluated: Against customer requirements Against engineering specifications With ANSYS for FEA

11. Product Evaluation Engineering SpecificationsUnitsD.o.I.TargetActual Target Met Range of vertical movement of hand in↑0.54 Resolution of rotational movement of hand deg↓21 Range of lateral movement in↑0.52 Total Cost $↓50001300 Base Mounting Configurations #↑21 X Motor Poweroz-in ↑5076 Time of Set UpMin ↓55 # of tools for adjustments# ↓14 X Range of angular movement of handdeg ↑2030 Time Between MaintenanceDays ↑30

12. Impact Safety Hands free manipulation Environmental Bio-friendly Society Aids in improving impacts of Lithotripsy experiments on the blood flow in the kidneys

13. Recommendations Future Work: Enhance controller Longer, less rigid flexible shafts Adjustable grip for different probe sizes Enhanced locking mechanisms

14. QUESTION AND ANSWER