Illumisite virtual View - Medtronic's predicate device
Ion Endoluminal Robot - the product made by our main competitor
Single Channel Endoluminal Robotics
2023
As a subsystem tech lead for 'stability systems' for a new research and technology project. The objective of our project was to determine if Medtronic has the technical capabilities to design and sell a product that can robotically steer a catheter through a patient's lungs to a nodule for the purposes of both diagnosing cancer and providing therapies.
We were working in 3 month design cycles where we developed concepts and built systems that we showed to surgeons at the end of the cycle. For each cycle, I designed, 3D modeled and built a console that held all our necessary computing, user interaction points and robot hardware. My team consisted of industrial designers, systems engineers, and another mechanical engineer. Our main objective was to create a small robot that provided the users the best experience performing an interventional pulmonology procedure.
While I led the stability system, I also supported the development of robot hardware and additional peripherals required to execute the complete product.
At the end of the R&T phase of the project, it was fully funded and approved to transfer this into the new product development phase. My final prototype will be transferred to a team in Colorado to begin making additional changes for transferring the design to a product.
2020-2021
Tensegrity Structure
Senior Capstone Project - Northeastern University
Four member team selected as one of ten university teams ...
End Cap Design
Caps to integrate between tensile and compressive members...
Tensegrity Structure Build Timeline
3D Printed End Cap
2017
3D Printer
Ongoing Independent Project
This project is to gain experience in additive manufacturing, part sourcing, and personal project management. It is entirely self-driven. I hope to use it for my own personal projects in the future.
Problem: How to 3D print a wheel for a rover that is cheaper and lighter than one made of aluminum?
Action: Design a 3D printer capable of printing with a wide range of materials on an 8.5" x 11.5" print platform using existing printed parts and low-cost framing.
Top Lead Screw Mount
Print Plate Clamp
Lead Screw and Motor Mount
Full Render of Personal 3D printer
Problem: Initial prints come out looking 'sloppy' with uneven edges and rounded corners.
Proposed solution: The print head is not rigidly fixed to the linear rails, and the center of mass is below the line of action of the linear rails causing the print head to 'swing' when it changes direction. Redesign the center carriage mount to be more rigid and with the center of mass between the rails rather than like a pendulum.
The motor and idler mounts shown here are a solution that places the center of mass of the print head between the rails.
Motor Mount
Idler Mount
State of the Project:
Problem: 3D prints are not sticking to the glass print bed. The prints are particularly bad at sticking when my apartment is cold.
Action: Applying glue from Elmer's glue sticks or strips of painters tape to improve the friction on the bed. This does not seem to help, and I am switching to using a heated bed.
Problem: Heated beds for a 12"x12" platform draw too much power and can't be connected to my board. I need an external controller to route power from the power supply to the heated bed.
I am currently waiting to finish this project when I am no longer working on other team research competitions.