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SonoHand

Brandon Chung, Barry Cheung, Mayuki Sasagawa, Simon Kim

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Major Accomplishments

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Major Accomplishments

  • Major redesign
  • Implementation of circuit with foot pedal
  • On-site testing

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Old Design vs. Current Design

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Previous Design Issues

Component 1: Base

  • Concern for Untested Base Clamp
    • Not compatible with common version of ultrasound machine
  • Base structural stability
  • Heavy
  • Large exposed gear

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Component 2: Joints

  • Friction lock does not work
    • Needs replacing with alternate joint
  • Structural stability at middle single joint
  • Limited degree of freedom
  • Dead zones with disk-pin method

Assembly Process

  • Difficulty in assembly
  • Difficulty in reproducibility

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Previous Design Issues

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New Design:

Arkon Mount Design

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Size and Weight

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Size and Weight

Weight

  • Total weight: 1.3 kg
  • Total moment at base joint: 0.324Nm

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Size

  • Vertical Length: 29.5’’
  • Max Horizontal Reach: 31.5’’

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Controls

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Controls

The Sonohand will be controlled by a foot pedal and lock/unlock

  1. The arm is locked by default
  2. Stepping on the foot pedal will unlock the arm, allowing the user to move the probe to the desired position
  3. Releasing the pedal will relock the arm

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Demo

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Manufacturability

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Design for Manufacturability

  • Keep it simple
    • Easily Machinable Parts
      • Minimal passes
      • Minimal Tooling
      • Only printing critical parts

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  • Robust in design
    • Strength vs. Weight
    • Material choices
      • High stress parts - Machined/DMLS (direct metal laser sintering)
      • Low stress parts - Injection molded plastic

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Manufacturing

  • Plastic parts failure in prototype
    • Plastic deformations
    • Plastic parts cracking
    • Stripped threads

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  • Contacted Additive Rocket Corporation 5/23
    • Got quotes for printing 3 critical parts

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Movement and Lockability

SonoHand’s motion and locking mechanism uses two ball and sockets.

  1. More versatility
  2. Greater degree of freedom
  3. Calibration method to fine-tune the tightness of each ball and socket

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Final Design To Dos & Schedule

  • High Priorities:
    • Assemble final arm (weekend tests and build days)
    • Adjust CAD (weekdays)
    • Send finished parts for machining (Deadline: end of week 9)
  • Secondary Priorities:
    • Accomplish any of the secondary objectives

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Testing Plan

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  • Final test/demo at the UC Medical Simulation Center with client
  • Machine parts for the final assembly

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Gantt Chart

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Remaining Questions and Concerns

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THANK YOU!

Any questions or comments?

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Ultrasonic

Probe

Hand

Mechanism

Adhesive

Sponge

Ball and

Socket

Servo

Motor

Arm

Linkage

Ball and

Socket

Arm

Linkage

Base

Mechanism

Static Arm

Fixture

Railing/Mounting Platform

Servo

Motor

Ball and

Socket

Manual

Knob

Breadboard

Foot

Pedal

External Power Supply

Mechanical Components

Electrical Components

Voltage/Current

Controller

Power

Outlet

Arduino