System Design

Design Requirements and Performance Specifications

Device must operate on a Geriatric IV Training Arm
Robot must use a dedicated supply or batteries for the final power
Project budget must not exceed $800
Project design must be robust and portable
Device must not damage anything it interacts with and should prioritize safety
Robot localization and calibration must be completed in a 5 minute period before hand
Robot must be able to visualize the veins with an acceptable error of ± 0.5mm.
The team may be permitted to apply the tourniquet manually
Robot must disinfect the injection region with a disinfecting wipe
Robot must also anchor the vein by pulling the skin tight to aid in venipuncture
Robot may pick any visible and wide enough vein to withdraw blood or inject medication with the syringe
Robot must withdraw the needle afterwards

Functional Architecture

Cyber-Physical Architecture

Electrical Architecture

Mechanical System Description

Concept of Operation

A carriage (Green and Grey) moves along the length of the arm as the toolhead (Blue) moves along the clamping arm (Yellow) to detect veins and insert the needle.

Electronics System Description

Concept of Operation

The system runs on 12V to power the entire system including a Jetson NANO, linear rail, solenoids and pneumatics that operate at 100PSI. The camera records arm photos that then are labelled by the Jetson NANO. The resulting injection site is calculated and then traversed to using the solenoids and linear rail. Pneumatics are used to injcet at a constant pressure everythime to ensure no errors.

Perception System Description

Concept of Operation

Using a trained neural network, given RGB-D images, the intent is to be able to identify possible vein locations to inject into with high accuracy and precision. Provided a vein label, the robot will use inverse kinematics to position and inject into the arm properly.

Image Ground Truth Labelled Image

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