MARSHALL BAHEN
Get a Grip
In this project we were tasked with designing a system to autonomously sterilize surgical tools using telepresence and additive manufacturing techniques. In order to achieve this goal our groups was divided into two sub teams, one tasked with creating a computer program using python to control a Q-arm robot to pick up, transfer, and place a sterilization container in a specified autoclave bin. The other team which I was a part of was tasked with designing a container to securely transport a surgical tool, given a number of constraints and functions such as fitting inside a specified footprint, securely transporting a specified sterilization tool, the container must facilitate sterilization, must weigh less than 350 g, and must be able to be 3D printed in less than 2 hours.
Design Process
Phase 1
The process began by creating a list of objectives, constraints, and functions that the design must accomplish. Then determined primary and secondary functions of the system.
I then created two sketches of a potential container design with a focus on the method of securing the surgical tool, and being picked up by the gripper.
Phase 2
I refined concept sketches of our sterilization container. Followed by creating a preliminary flow chart of their computer program. Lastly, I created low fidelity prototypes of each others refined designs to test feasibility of the design and document observations. I compared advantages and disadvantages and made recommendations for improving the design.
​
Phase 3
I created preliminary solid models of our designs and then used a Pugh matrix to evaluate each others designs and choose one to improve upon leading up to the next milestone.
​
Phase 4
Final adjustments were made before developing the graphics in Autodesk inventor and drawings in AutoCAD.
​
​
Key Skills
1.Autodesk Inventor Inventor skills learned in the graphics labs throughout the semester. I used advanced modelling techniques to create multiple parts that fit together. I used assembly mate constraints, and angle constraints to constrain the container so that only the intended parts moved. I also used techniques learned in labs to create dimensioned engineering drawings. 2. PrusaSlicer I used PrusaSlicer to convert my sub teams inventor part files to STL files and then slice the parts and export a G-code, while minimizing print time to 2 hours. 3. Python 4. Offline Robot Programming (OLRP)
