The team made strong progress this week as we focused on final integration, documentation, and alignment with stakeholders in preparation for project closeout. With the project entering its final phase, our efforts centered on ensuring that all subsystems are complete, well documented, and ready for a smooth transition.

A key accomplishment this week was advancing coordination with our liaisons to clarify final deliverable expectations and documentation requirements. These discussions helped ensure that all outputs are aligned with stakeholder needs and that no critical components are overlooked. In parallel, we completed several important improvements to the wire insertion subsystem, including finalizing the clamp assembly and developing a supporting electronic housing. These updates enhance both the stability and usability of the system as it approaches completion.

We also continued progressing toward automation by integrating and testing a new top rail wheel system. This addition improves control over wire movement and represents another step toward a fully automated insertion process. Alongside these technical developments, we completed a rough draft of the Final Design Report and shared it with our coach and liaisons for feedback. This document consolidates our design decisions, testing results, and overall system development into a comprehensive format.

Looking ahead, the team will focus on finalizing and submitting the Final Design Report and presenting the project at the keynote event. We will also revise project documentation based on feedback from our coach and liaisons and finalize deliverable handoff plans. This includes ensuring that all materials related to the vision verification system, particularly the orientation box, are clearly documented and ready for transition.

One remaining coordination item is to schedule a meeting early next week with the liaisons to discuss project handoffs and address any remaining questions related to the vision algorithms.

Overall, the project remains on schedule. The progress made this week positions the team well for a successful final delivery and presentation.

Here is our poster!

Here is our YouTube link of our video!

The team continued to make steady progress this week as we focused on finalizing subsystem designs, strengthening documentation, and preparing key deliverables for project completion. Efforts across mechanical, software, and communication components are converging as we move toward a fully integrated and presentable system.

On the mechanical side, we designed a dedicated housing for the electronics of the wire insertion fixture, improving organization, protection, and overall system reliability. We also continued iterating on the clamping mechanism, refining its design to achieve more consistent and secure handling of the nitinol wire. These updates contribute directly to the stability and usability of the automated insertion process.

From a software and validation perspective, we completed a code review with our liaisons. This session provided valuable feedback on structure, clarity, and implementation details, which will guide upcoming refinements and documentation efforts. In parallel, we created a project video and developed a poster that clearly communicates the system design, functionality, and key results. These materials will support final presentations and help convey the impact of the project to a broader audience.

Looking ahead, the team will focus on completing the wire insertion fixture and finalizing the remaining components of the system. We will document code specifications based on feedback received during the review, complete a draft of the Final Design Report, and refine both the project video and poster. Additional work will include completing the final iteration of the vision verification fixture to ensure readiness for demonstration and handoff.

A few coordination items remain for the liaison engineers. These include completing the installation of the verification software, assembling and reviewing the fixture, and supporting the delivery of any remaining parts needed for final integration.

Overall, the project remains on schedule. The progress made this week reflects strong alignment across subsystems and positions the team well for final delivery and presentation.

Here is an image of us at PID explaining our project!

The team reached a major milestone this week with a successful presentation at Prototype Inspection Day 2, where we showcased both the vision verification system and the wire insertion assembly. The demonstration was very well received, and the team was honored with the 2026 IPPD Exemplary Team Award. This recognition highlights the progress made across all aspects of the project and reflects the level of integration achieved between mechanical, electrical, and software components. We also had the opportunity to present our prototype to Heather during her visit to UF, which provided additional feedback and validation of our current direction.

On the vision verification side, we began configuring AprilTag integration to enhance detection robustness and improve spatial consistency within the system. In parallel, we created detailed, step by step assembly documentation for the vision verification box in a structured format designed to be intuitive and easy to follow. This approach supports repeatability and ensures that future users can assemble and operate the system with minimal ambiguity.

Mechanical and electrical development of the wire insertion system also progressed significantly. We initiated the design of an electronics casing to better organize and protect system components. In addition, we began programming the final set of motors that will drive system functionality, including the motor responsible for actuating the clamp onto the nitinol wire and the motors that control motion and rotation along the top rail. These efforts represent important steps toward achieving a fully automated and reliable wire insertion process.

Looking ahead, the team will focus on completing comprehensive documentation for the wire insertion fixture, including a detailed overview of the process, challenges encountered, and key learnings. We will also begin drafting materials for the final project poster and developing a storyboard for the project video. On the vision side, we plan to generate and analyze quantitative metrics such as image intensity and sharpness to validate system performance. Additional work will include completing motor programming and finalizing the electronics casing design.

To support coordination and final validation, we will schedule sessions for code review, hardware review, and documentation review. One open action item for the liaison engineers is to complete the When2Meet scheduling form for these sessions. Additionally, the purchase order for remaining components, including screws, carriages, and carriage rails, will need to be finalized based on the previously shared details.

Overall, the project remains on schedule. The combination of strong technical progress, successful demonstrations, and external recognition positions the team well as we move into the final stages of development and delivery.

Here is a picture of us at PID 2:

The team reached a major milestone this week with a strong showing at Prototype Inspection Day 2, where we presented both the vision verification system and the wire insertion assembly. The demonstration was well received, and the team was honored with the 2026 IPPD Exemplary Team Award. This recognition reflects the consistency of our progress and the level of integration achieved across mechanical, software, and verification components. We also had the opportunity to present our system to Heather during her visit to UF, which provided additional valuable feedback and validation of our approach.

On the vision verification side, we began configuring AprilTag integration to further improve detection robustness and spatial consistency within the system. In parallel, we developed detailed, step by step assembly documentation for the vision verification box in a structured format that clearly outlines each stage of the build process. This documentation is intended to improve reproducibility and ensure that future users can reliably assemble and operate the system without ambiguity.

Mechanical and electrical development of the wire insertion system also progressed significantly. We initiated the design of an electronics casing to better organize and protect system components. In addition, we began programming the final set of motors that will be used in the system, including the motor responsible for actuating the clamp onto the nitinol wire and the motors that control motion and rotation along the top rail. These efforts bring us closer to a fully integrated and automated wire insertion process.

Looking ahead, the team will focus on consolidating documentation and preparing final deliverables. This includes completing comprehensive documentation for the wire insertion fixture, covering system design, challenges encountered, and key takeaways. We will also begin drafting materials for the final project poster and developing a storyboard for the project video. On the vision side, we plan to generate and analyze quantitative metrics such as image intensity and sharpness to validate system performance. Additional work will include completing motor programming and finalizing the electronics casing design.

To support coordination and review, we will schedule sessions for code, hardware, and documentation reviews. One open action item for the liaison engineers is to complete the When2Meet scheduling form for these sessions. Additionally, the purchase order for remaining components, including screws, carriages, and carriage rails, needs to be finalized based on the details previously shared.

Overall, the project remains on schedule. The combination of technical progress, successful demonstrations, and recognition at Prototype Inspection Day reflects the team’s readiness as we move toward final integration and delivery.

Here is our team during the PID event!

The team reached an important milestone this week with a successful site visit to the Johnson and Johnson facility in Jacksonville. This visit provided an opportunity to demonstrate current system capabilities, review both code and documentation, and present progress to key stakeholders. The feedback received during these sessions was constructive and will help guide refinements as we move toward a more complete and integrated system.

A significant portion of the week was dedicated to strengthening documentation and improving system usability. We continued revising the SOP for the vision verification system based on liaison feedback, ensuring that the procedure is both comprehensive and aligned with expected operational standards. In parallel, we developed additional videos and step by step image based instructions to clearly document the assembly process for the vision verification box. These materials are intended to make the system easier to understand, replicate, and operate across different users.

On the software side, we enhanced the graphical interface for the vision verification touchscreen. The updated GUI now includes structured output for pass and fail results across multiple criteria, including proximal tip, distal tip, and electrode ring detection. This improvement provides clearer feedback to the operator and establishes a foundation for more advanced reporting and diagnostics.

Mechanical development also continued with the design of a wire clamping mechanism for the wire insertion fixture. This component is currently being prepared for printing and integration into the system. The addition of this mechanism is expected to improve stability and consistency during wire handling, which is critical for reliable automation.

Looking ahead, the team will focus on improving both the robustness and interpretability of the vision system. We will develop a standardized configuration and calibration reference based on optimal imaging conditions identified during testing. In addition, we plan to enhance the GUI by incorporating more explainability into pass and fail results, such as warning indicators or detailed feedback when a catheter does not meet verification criteria. Mechanical and structural improvements will also continue, including the design of slide in panels, a power and cable management system, and an external enclosure to minimize the impact of ambient lighting on image capture.

We will also begin formally identifying and documenting all observed failure modes within the vision verification system to support validation and future optimization. In parallel, development of the wire insertion fixture will continue, with a focus on integrating motors to advance toward full automation.

One open coordination item remains for the liaison engineers, which is to review the current draft of the FDR and provide feedback on the relevance and organization of its sections.

Overall, the project remains on schedule. The combination of successful stakeholder engagement, improved documentation, and continued technical progress positions the team well for the next phase of development and system refinement.

Here is a picture of us in Jacksonville @ the J&J facility.

The team continued to make strong progress this week as we focused on improving system reliability, refining operator workflows, and preparing for the upcoming rebuild and on site collaboration in Jacksonville. Efforts across both the mechanical and vision subsystems are beginning to converge, with increased emphasis on usability, documentation, and readiness for integration.

One of the primary accomplishments this week was drafting the vision verification box assembly SOP and iterating on it through a full build walkthrough. By stepping through the complete assembly process, we were able to identify areas where fixture accessibility could be improved and incorporate those insights directly into the design. This process not only strengthened the documentation but also informed more user friendly hardware adjustments.

On the mechanical side, we designed and printed new wire clamping components for the wire insertion fixture and outlined the implementation of limit switches to improve control and repeatability. These additions are expected to enhance both safety and precision during operation. We also made several improvements to the cooking fixture, including reinforcing peg supports and stabilizing the cap connection, which should lead to more consistent performance during use.

In preparation for upcoming integration work, we finalized the ordering of all required supplies for shipment to Jacksonville ahead of the March 12 rebuild, as well as additional components for continued development in Gainesville. These logistical steps ensure that the team will be fully equipped to make meaningful progress during the on site session.

On the vision side, we reached an important milestone by completing the functional implementation of the proximal tip detection algorithm. This represents a key step toward a fully operational verification pipeline and provides a strong foundation for further refinement and testing.

Looking ahead to next week, the team will focus on preparing materials and continuing system development. This includes creating visual materials to support discussion of the computer vision algorithm in Jacksonville, delivering video instructions for camera fixture setup, and integrating the wire clamping system once components arrive. Additional efforts will include programming the stepper motor for lens focus control using a belt and pulley system and improving the usability and functionality of the Raspberry Pi interface.

A few coordination items remain for the liaison engineers. These include sharing the agenda for the March 12 visit and supporting the printing and evaluation of the updated vision fixture with the newly designed components.

Overall, the project remains on schedule, and the progress made this week strengthens both system performance and readiness for upcoming integration and testing activities.

Here is an image of our new system for verification!

The team made strong progress this week as we continued refining the mechanical and vision verification subsystems while improving system usability and operator interaction. This week also included two important communication milestones, QRB 2 and a discussion with a Johnson and Johnson automation director, both of which provided encouraging feedback and helped validate our current direction.

On the vision verification side, we advanced the camera fixture design to improve consistency and ease of setup. We updated the fixture to include poka yoke feet and expanded the base so it can accommodate the Raspberry Pi. This updated configuration is currently being printed. In parallel, we designed and integrated a mechanical fixture to securely attach the screen and Raspberry Pi to the vision verification box, improving the overall organization of the setup and reducing the likelihood of misalignment or operator error. To further support usability and training, we created a set of videos that demonstrate each step of both the wire insertion process and the vision verification workflow from an operator’s perspective.

In addition to these hardware and documentation improvements, we began work on the SOP Orientation Measurement, TMP 1779, as requested. Establishing this documentation early is important for standardizing procedure, enabling repeatable testing, and ensuring the system can be used consistently across operators. We also delivered our project updates and current status at Quarter Review Board 2. The presentation was well received, and the feedback reinforced that the team is making meaningful progress toward an integrated and testable system.

On the wire insertion assembly, we reached an important mechanical milestone by installing a DC motor onto the wheel carriage fixture and achieving automatic spinning. This represents a key step toward automating the translation of the nitinol wire and will provide a basis for tuning motor behavior to meet the required insertion performance.

Looking ahead to next week, the team will focus on completing a first rough draft of SOP Orientation Measurement, TMP 1779, and continuing development work across both subsystems. For wire insertion, priorities include fine tuning the DC motor parameters to reach the target spinning speed needed for reliable wire translation, designing a stronger base plate and improved power mounting and wire management to stabilize the assembly, and developing additional fixtures such as nitinol wire clamps, an excess wire spooling mechanism, and a control interface for operator interaction. For vision verification, we will generate initial success and failure plots using current results and continue refining the proximal tip detection algorithm to improve robustness.

One open coordination item remains for the liaison engineers. Upon request from Corbotics, Ed will be asked to obtain another timing belt and an additional microcontroller setup consisting of a Raspberry Pi and LCD screen for the camera box.

Overall, the project remains on schedule. The combination of technical progress, improved operator focused documentation, and positive external feedback this week further reinforces that the system is progressing in a strong direction. 

Here is a peek into our distal tip detection algorithm!

The image above is the raw image and the image below is the tip after detection algorithm finds the tip!

The team made significant progress this week as we continued integrating automation and refining the mechanical and sensing infrastructure of both the wire insertion assembly and the vision verification system. These efforts represent an important transition from individual subsystem development toward more cohesive system functionality and automated operation.

One of the major accomplishments this week was completing the setup of the Raspberry Pi and display for the vision verification system. This integration provides a dedicated platform for image acquisition, visualization, and system control, which will support both testing and eventual deployment of the vision pipeline. Establishing this hardware foundation enables more efficient iteration and improves the usability of the verification setup.

On the mechanical side, the team designed and integrated several custom components into the wire insertion system, including a belt tensioner, belt connector, wheel carriage attachment, base stabilizers, and additional structural fixtures. These additions improved the structural stability and alignment of the system while supporting more reliable and controlled motion. Most notably, we successfully achieved automated motion of the lumen holder, enabling it to move back and forth without manual intervention. This milestone represents a key step toward fully automating the wire insertion process and validates the effectiveness of the current motorized design.

Looking ahead, the team will focus on both performance evaluation and continued system integration. We will begin documenting and analyzing system behavior by investigating potential failure modes, including measuring cycle times, voltage readings, and forces exerted on the nitinol wire. These measurements will help ensure safe operation and guide further optimization. In parallel, we will design and integrate a mechanical fixture to securely mount the Raspberry Pi and screen to the vision verification box, improving overall system organization and usability.

Additional priorities include refining the camera fixture by adding poka-yoke features to improve alignment and prevent incorrect assembly, and creating a detailed instruction set with images to document the process of inserting the loop tip and capturing verification images. On the wire insertion side, the team will continue expanding automated functionality by enabling automated lifting and spinning motion of the wheel mechanism, which is necessary for complete automation of the insertion process.

A few coordination items remain with the liaison engineers. These include sharing a standard operating procedure template, confirming the maximum allowable force on the nitinol wire to ensure safe handling, and scheduling a direct meeting with Tim and Corbotics to review progress and align on next steps.

Overall, the project remains on schedule, and the progress achieved this week represents an important advancement toward a fully integrated and automated system.

Here is Daniel working on our project assembly.