Designing a Robot for Portable Raman Probe Positioning: The Robo-Scanner
Presentation Outline Objectives u Introduction u Hardware Design u Software Design u Design Alternatives u Problems Encountered u Future Goals u
Main Objectives u u u To design & build a functional prototype that will correctly position raman probe to scan pills & tissue Incorporate Matlab for positioning & data analysis Send Matlab outputs to microcontroller Write & implement Assembly code to translate Matlab code into motor movement Create model of different pill types
![Introduction u Raman Spectroscopy [1, 2] • Has numerous medical applications • Physics-based technique](https://present5.com/presentation/c21074c3abebe702a34c3744d3a974ee/image-5.jpg "Introduction u Raman Spectroscopy [1, 2] • Has numerous medical applications • Physics-based technique")
Introduction u Raman Spectroscopy [1, 2] • Has numerous medical applications • Physics-based technique that detects chemical composition of a sample • Each chemical has characteristic wavelength shift • Can relate the peaks in a Raman spectrum to specific chemicals & compare composition of a test sample
Two Applications for Portable Raman
Raman Spectroscopy Portable Verax Raman spectrometer made by In. Photonics
Raman Spectroscopy
Main Components u u u u Erector sets Raman probe 68 HC 11 microcontroller Breadboard/circuitry Cameras DC step motors Printer railways
Hardware Design u First Step: • Build gantry frame using erector sets • Purchase & fasten c-channels
![Benefits of Gantry Design [3] u u Perform pick & place applications Provide better](https://present5.com/presentation/c21074c3abebe702a34c3744d3a974ee/image-11.jpg "Benefits of Gantry Design [3] u u Perform pick & place applications Provide better")
Benefits of Gantry Design [3] u u Perform pick & place applications Provide better positioning accuracy Easier to program with respect to motion due to X, Y, Z coordinate system Less limited by floor space constraints
u Second Step: • Disassemble printer components • Mount X & Y railways onto frame Hardware Design …
Hardware Design cont. u Third Step: • • • Create wheel mechanism Mount camera Mount probe on Z-axis Gigaware® 1. 3 MP PC Camera
Mechanical Design DC step motors used from disassembled printers u Change initial design concept of wheel mechanism u • To decrease drag & friction, remove rubber tread • Reposition wheel on top of c-channel instead of inside
Final Product !
Network Overview RS 232 68 HC 11 Breadboard
Microcontroller Diagram
Electrical Components u LM 741 CN Op Amp (All 3 inverting)
Software and Circuit Design
Wiring Diagrams
Software Design u Second Step: Write code using Matlab Toolkits • • • u Wavelets (pre-processing) Statistics Image processing Future Toolkits • Camera calibration ~ 3 D triangulation of 2 images • Image acquisition ~ live video feed
Matlab GUI
Software Design u Imaging Processing Toolkit to position robot • Load video image from file (. jpg) from camera • Convert image to grayscale • Threshold image • Count distinct objects in image • Find center of each distinct object • Convert pixel location to robot location • Send location to HC 11 by serial port
Image Processing Results Original Image (with pills marked) Threshold Image Grayscale Image Count Objects In Image *Results depend on lighting, photo conditions*
Moving the Robot u u u Check to see if starting from home position Move robot from home position to desired pill location Collect spectra (use separate software) Process software and output results Move robot from pill position to home Repeat for next pill
Processing Details u Preprocess Spectra • Background Subtraction • Remove noise • Remove cosmic rays u Principal Component Analysis • Reduce dimensionality of data u Algorithm • Discriminant Function Analysis • Neural Network Analysis
Spectral Results
Testing Assembly Code
Problems Encountered u Consider weight of raman probe in choosing initial robotic arm mechanics Devising efficient pulley system Weight of printer railways & motors High coefficient of friction between wheel & aluminum c-channel Software development & implementation Camera calibration Coordinate triangulation u Time constraints u u u
Design Alternatives Possible Design Improvements: u u u Construct robotic arm Addition of proximity sensors Swap microcontroller for new motion controller Incorporate AC servo motors in place of step motors Autonomous positioning
Future Goals u Expand current design by incorporating more sophisticated technologies • Implement 3 D triangulation using stereo camera calibration • Combine functions with Nurse-Bot or similar application • Use robot for scanning cancerous tissue samples • Optimize portable robot design requirements for OR usage • Telepresence i. e. administer medication
Grand Finale u Final Demo
![References [1] Huang, Z. , Mc. Williams, A. , Lui, H. , Mc. Lean,](https://present5.com/presentation/c21074c3abebe702a34c3744d3a974ee/image-36.jpg "References [1] Huang, Z. , Mc. Williams, A. , Lui, H. , Mc. Lean,")
References [1] Huang, Z. , Mc. Williams, A. , Lui, H. , Mc. Lean, D. I. , Lam, S. and Zeng, H. , Near-infrared Raman spectroscopy for optical diagnosis of lung cancer. Int J Cancer, 2003. 107(6): p. 1047 -52. [2] Cao, A. , Pandya, A. , Serhatkulu, G. K. , Weber, R. , Dai, H. , Thakur, J. S. , Naik, R. , Naik, V. , Auner, G. W. , Rabah, R. , and Freeman, D. C. , A Robust Method for Automated Background Subtraction of Tissue Flourescence. Journal of Raman Spectroscopy, 2006 (in press). [3] http: //www. robots. com/faq. php? question=gantry+robot
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