Figure 1: Simulation of the Q-arm in Quanser Interactive Labs
Figure 2: CAD model of the final container
<aside> ⚠️ Problem Statement Project: Mankind’s solution for robotics in the medical industry Objectives:
Functional requirements:
The primary objective of this project is to sterilize surgical tools with the Q-arm with the following secondary objectives of the Q-arm to pick up the container, transport the container and drop it off in its corresponding autoclave and for the container to hold the tool in place throughout the whole process. The project also followed a list of functions of, sterilizing surgical tools, picking up the designed container, placing the designed container on/in an autoclave bin, and being able to withstand the sterilization process. Lastly, the project constraints consisted of, the container not exceeding 350 grams, the container fitting into the footprint, the tool not sliding around the container, and the material being medical grade.
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Timeline of project (10/26/2023 - 12/06/2023)
The team demonstrated exceptional collaboration and individual effort, achieving all milestones within the designated timeframe. Each team member made significant contributions to every milestone, ensuring an equal distribution of tasks among all members. For this project, we were split into two sub-teams, the computation and modelling sub-teams. I chose to participate in the computation sub-team in this project.
<aside> 🤔 To begin the project, everyone collaborated to list the objectives, constraints and functions of the project. We considered both sub-teams and included objectives, constraints, and functions for computation and modelling. We also discussed the means of completing each function.
I also completed the Premininary Gantt chart for this project.
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Figure 3: Preliminary Gantt chart
Figure 4: Flowchart of the Q-arm process
<aside> 🏁 Nearing the end of the project, we began to turn our pseudocode into Python code. I implemented the main and drop_off functions into Python. At the same time, my partner implemented the pick_up and transfer functions. I took the initiative of testing all the functions together and finalizing all the locations for the Q-arm by running test trails in Quanser Interactive Labs and finally running the program on the physical Q-arm.
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Figure 7: Material property chart with the top three materials displayed
Table 1: Objectives, constraints and functions of the project
| Objectives | Constraints | Functions |
|---|---|---|
| Simple to use and execute | Must not exceed 350 grams | Sterilize surgical tools |
| The Q-arm must be able to adapt to the environment and placements of the containers | The container must fit into the footprint | Pick up the designed container |
| Have the input of the Q-arm controlled by the user | The tool must not slide around the container | Place the designed container on/in an autoclave bin |
| The container but be able to be held by the various attachments of the Q-arm | The material must be medical grade | Be able to withstand the sterilization process |
<aside> 🧠 As a part of the computation sub-team, I created pseudocode for the primary function of the Q-arm. With this, I along with my computation partner created flowcharts on two different functions of how Q-arm operates. We each completed flowcharts on different functions.
My contributions
My partner’s contributions
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Figure 5: Python code of the drop_off function
Figure 6: Image of the physical Q-arm picking up a container
<aside> 🧱 Just before testing our program with the physical Q-arm, I began the independent materials research assignment. In the assignment we are given the option to choose an MPI for stiffness to strength, I chose strength. With that, I produced a material property chart using Granta Edu Pack and obtained 3 materials. With some additional research and looking at all the material’s properties on Granta Edu Pack, I chose the material that best fits all categories, Polypropylene (PP).
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<aside> 🪞 Throughout this project, I had the opportunity to contribute to the design and implementation of a system for sterilizing surgical tools using remote sensing and actuation. As part of the computation sub-team, I collaborated with my team members to develop pseudocode, flowcharts, and Python code. I found this project very immersive and hands-on, which enhanced my performance and helped guide every decision made. For instance, in the drop_off function in the final Python code, I developed my own method of confirming each container with its corresponding drop-off location instead of using the given Python function. I made this decision as it provided me with more flexibility in confirming each container's location along with the potentiometer values. This approach also allowed it to work flawlessly with my program while showcasing my problem-solving abilities. One slight improvement I could have made in this project was to create my own function outside of the required ones. This would have simplified any lengthy functions and made it easier to follow for users with limited programming experience. It would have also improved maintainability and allowed for potential modifications to the program, enabling the Q-arm to perform new tasks or use new methods to complete them. This project provided me with insights into various aspects of programming and hardware. However, I felt that certain areas of knowledge were missing, particularly in the modelling sub-team. Despite not being a part of that sub-team, I believe that understanding their tasks would enhance my knowledge of materials and design and prepare me for any future challenges in that area of engineering. By the end of the project, we were successful in developing software and hardware that completed all required tasks and the outcome of this project was very positive and a great learning experience.
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