Project
Location: Northern Arizona University, Flagstaff, Arizona
Project constraints/requirements
- Translation of catheter over 2 ft
- Rotation of catheter at least 360 degrees
- Remote controlled from at least 10 ft away
- Sampling rate frequency between 5-30 Hz
- Handle catheter sizes between 2-15 French
- Measure push resistance force between 0.1-10 N
- Measure displacement of catheter with resolution of at least 0.1 mm
- System noise/tolerance: ± 0.05 N
- Total size under 1 cubic foot
- Keep temperature of system below 60 °C
Details of final design:
- Made of three subsystems
- Translation: Forward and backward movement of catheter provided by stepper motor and bearings
- Rotation: Twisting of catheter controlled by rotating bearings pressed against catheter axially, and controlled by gearbox
- Sensors: Reaction torque load cell system attached to back of motors to measure torque