1. BME DESIGN 200/300 MICROSCOPE MANIPULATOR UW Medical Physics Department Contact Info: UWBME.Micromanipulator@gmail.com

2. Intellectual Property  All information provided by individuals or Design Project Groups during this or subsequent presentations is the property of the University and of the researchers presenting this information. In addition, any information provided herein may include results sponsored by and provided to a member company of the Biomedical Engineering Student Design Consortium (SDC). The above information may include intellectual property rights belonging to the University to which the SDC may have license rights.  Anyone to whom this information is disclosed:  1) Agrees to use this information solely for purposes related to this review;  2) Agrees not to use this information for any other purpose unless approved in advance by the Project Group, the Client / SDC, and the Advisor;  3) Agrees to keep this information in confidence until the University and the relevant parties listed in Part (2) above have evaluated and secured any applicable intellectual property rights in this information;  4) Acknowledges that worldwide patent rights are waived if publication or public dissemination occur prior to filing a corresponding U.S. provisional or utility patent application.

3. 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

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

5. 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 The current stage is too large and the imaging and positioning software is outdated.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.

6. Background  Zebrafish becoming prominent early organism  Advantages of Zebrafish  Develop ex utero (http://mayoresearch.mayo.edu/mayo/research/zebrafish/)  Embryos are transparent  Embryogenesis visible at single cell resolution  Able to view formation of neurectoderm, circulatory and skeletal systems Courtesy of Purdue University

7. Motivation  Current system is not sufficient  Commercial stages and digital imaging equipment are extremely expensive (Approximately $6000-12000)

8. Product Specifications  Computerized  Precision of 50 - 200 µm  Accommodate a 6cm Petri dish  Less than 6 cm tall  Withstand 50 keV of Ionizing radiation

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

10. Commercial Design 1: H105 ProScan™II  Travel Range - 154 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

11. Commercial Design 2: ES111  Travel Range - 126mm x 76mm  Minimum Step Size - 1.0 µm  Speed Range - 8mm/s maximum

12. Stepper Basics  Holding torque is a good measure of overall power of the stepper.  1 step is measured in degrees. Courtesy of http://www.solarbotic.net

13. 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)

14. Commercial Steppers 2 needed for XY translation  Shinano  Model SST-40C2011  DC Voltage – 6 Volts .9° per step  Hold Torque – 25.67 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

15. 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 – 69.38 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 $100-150 each

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

17. 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

18. 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

19. NI PCI-7342 2-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

20. 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)

21. 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

22. Image Processing SPATIAL DOMAINFREQUENCY DOMAIN

23. Image Processing

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

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

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

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

28. Questions? Email our team questions or constructive criticism at Questions? Email our team questions or constructive criticism at UWBME.Micromanipulator @gmail.com UWBME.Micromanipulator @gmail.com