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vi sinh, james simonelli, prof. tsu-chin tsao

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BACKGROUND Vi Sinh, James Simonelli, Prof. Tsu-Chin Tsao I would like to thank my Daily Lab Supervisor, James Simonelli, for lending me his knowledge and guiding me through the project and Professor Tsao for allowing me the opportunity to research in his lab. I would also like to thank William Herrera and the rest of the HSSRP staff for giving me the resources to be on campus and giving me this experience. Department of Mechanical and Aerospace Engineering, University of California - Los Angeles Analysis and Comparison of MRI-Compatible Actuators For Use in Minimally Invasive MRI Procedures Our goal is to improve on the hydrostatic actuator and take advantage of the MRI’s imaging capabilities in real time by replacing the over sized syringe system with a rolling diaphragm cylinder system. Current MRI procedures are very time consuming due to inaccuracies from the physician having to rely on a still image to map out the targeted area. These errors can result in misdiagnoses. The current solution is to create a machine that does not contain ferrous metals and works in the MRI machine to take advantage of the MRI imaging system in real time. This study attempts to eliminate these inaccuracies by improving on the hydrostatic actuator. The first prototype used plastic syringes for movement. Although these plastic syringes were robust, they were not smooth. The current prototype uses glass syringes and while these are smooth, they are fragile and are too large to be considered viable. The device can be improved by using a actuator that is robust, compact, and operates with low friction. MATERIALS AND METHODS CONCLUSION/DISCUSSIONS ACKNOWLEDGEMENTS BIOPSY PROCESS For a biopsy, an diseased tissue sample is removed from a patient. The tissue is found by using an MRI machine. A still photo of the tissue is taken and the physician uses this to determine where to insert the needle and takes a sample of the tissue. Estimating where to place the needle creates an area for error. GOAL RESULTS Hydrostatic Actuator Prototype The experiment has shown that the rolling diaphragm cylinders are as smooth as the glass syringes. Also the fabric reinforced rubber rolling diaphragm cylinder system is much more stiff than the glass syringe system. With more stiffness, there should be an increase in haptic feedback from the system. This gives the physician another sense other than visual feedback while taking the biopsy. Furthermore the rolling diaphragm cylinders are more robust and compact than the glass syringe. Rolling Diaphragm Cylinder and Syringe Actuator system is mounted onto optical table Displacementprobeis fitted to the output of the actuator Force gauge measures the force applied onto the system Displacementtracker measures the distance the system moves Stiction Experiment The fabric reinforced rubber rolling diaphragm cylinder’s smoothness is comparable to that of the glass syringes. Stiction test Silicon mixture is injected into a mold and allowed to cure. Nylon is added for fabric reinforcement. Rubber diaphragm fabrication Fabric Reinforced RubberDiaphragm Non-reinforced Rubber Diaphragm Stiffness Experiment Actuator system is mounted onto optical table Displacementprobe is fitted to the system Output side of actuator is locked from moving Displacementtracker measures the distance the system moves Force gauge measures the force applied onto the system Stiffness test The stiffness of the fabric reinforced rubber rolling diaphragm cylinder is much higher than that of the glass syringe or of the non-reinforced rubber.

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Page 1: Vi Sinh, James Simonelli, Prof. Tsu-Chin Tsao

BACKGROUND

ViSinh,JamesSimonelli,Prof.Tsu-ChinTsao

IwouldliketothankmyDailyLabSupervisor,JamesSimonelli, forlendingmehisknowledgeandguidingmethroughtheprojectandProfessorTsaoforallowingmetheopportunitytoresearchinhislab.IwouldalsoliketothankWilliamHerreraandtherestoftheHSSRPstaffforgivingmetheresourcestobeoncampusandgivingmethisexperience.

DepartmentofMechanicalandAerospaceEngineering,UniversityofCalifornia- LosAngeles

Analysis and Comparison of MRI-Compatible Actuators For Use in Minimally Invasive MRI

Procedures

OurgoalistoimproveonthehydrostaticactuatorandtakeadvantageoftheMRI’simagingcapabilitiesinrealtimebyreplacingtheoversizedsyringesystemwitharollingdiaphragmcylindersystem.

CurrentMRIproceduresareverytimeconsumingduetoinaccuraciesfromthephysicianhavingtorelyonastillimagetomapoutthetargetedarea.Theseerrorscanresultinmisdiagnoses.ThecurrentsolutionistocreateamachinethatdoesnotcontainferrousmetalsandworksintheMRImachinetotakeadvantageoftheMRIimagingsysteminrealtime.Thisstudyattemptstoeliminatetheseinaccuraciesbyimprovingonthehydrostaticactuator.Thefirstprototypeusedplasticsyringesformovement.Althoughtheseplasticsyringeswererobust,theywerenotsmooth.Thecurrentprototypeusesglasssyringesandwhilethesearesmooth,theyarefragileandaretoolargetobeconsideredviable.Thedevicecanbeimprovedbyusingaactuatorthatisrobust,compact,andoperateswithlowfriction.

MATERIALS AND METHODS

CONCLUSION/DISCUSSIONS ACKNOWLEDGEMENTS

BIOPSYPROCESSForabiopsy,andiseasedtissuesampleisremovedfromapatient.ThetissueisfoundbyusinganMRImachine.Astillphotoofthetissueistakenandthephysicianusesthistodeterminewheretoinserttheneedleandtakesasampleofthetissue.Estimatingwheretoplacetheneedlecreatesanareaforerror.

GOAL

RESULTS

HydrostaticActuatorPrototype

Theexperimenthasshownthattherollingdiaphragmcylindersareassmoothastheglasssyringes.Alsothefabricreinforcedrubberrollingdiaphragmcylindersystemismuchmorestiffthantheglasssyringesystem.Withmorestiffness,thereshouldbeanincreaseinhapticfeedbackfromthesystem.Thisgivesthephysiciananothersenseotherthanvisualfeedbackwhiletakingthebiopsy.Furthermoretherollingdiaphragmcylindersaremorerobustandcompactthantheglasssyringe.

RollingDiaphragmCylinderandSyringe

Actuatorsystemismountedontoopticaltable

Displacementprobeisfittedtotheoutputoftheactuator

Forcegaugemeasurestheforceappliedontothesystem

Displacementtrackermeasuresthedistancethesystemmoves

StictionExperiment

Thefabricreinforcedrubberrollingdiaphragmcylinder’ssmoothnessiscomparabletothatoftheglasssyringes.

Stictiontest

Siliconmixtureisinjectedintoamoldandallowedtocure.Nylonisaddedforfabricreinforcement.

Rubberdiaphragmfabrication

FabricReinforcedRubberDiaphragm

Non-reinforcedRubberDiaphragm

StiffnessExperiment

Actuatorsystemismountedontoopticaltable

Displacementprobeisfittedtothesystem

Outputsideofactuatorislockedfrommoving

Displacementtrackermeasuresthedistancethesystemmoves

Forcegaugemeasurestheforceappliedontothesystem

StiffnesstestThestiffnessofthefabricreinforcedrubberrollingdiaphragmcylinderismuchhigherthanthatoftheglasssyringeorofthenon-reinforcedrubber.

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