Automation and robotic control of a multi-sensor medical device platform

Biocompatibility testing is a complex and time-consuming process that can create significant delays when new medical devices and systems are brought to market. This thesis summarises work performed when automating a platform that incorporates new technologies to speed up the test protocol.As part of the H2020 project PANBioRa, several partners within the consortium have developed sensing technologies for cytotoxicity and cytokine analysis which are intended for inclusion in a multi-test platform. This platform is designed for use in the medical device industry and for use in hospitals, where tests on individuals will provide personal biocompatibility results. Dublin City University has been tasked with integrating the novel sensing methods to determine cell health and to design the system so that it is contained in a user-friendly bench-top unit. The thesis is focused on the design of an autofocusing microscope that will be used to identify cells, test for confluency within cell chambers, and determine cell health throughout the testing process by implementing image processing algorithms. The microscope is designed to obtain approximately 10x magnification and to have a physical size that allows it to move and operate as an end effector of a robotic system, meaning it can navigate to various cell locations. The objective of this project was therefore to design, construction, and validation of a high precision multi-axis robot to control the position and focus of the microscope, while in addition meeting the cost and size demands of the project. With the system being capable of moving the microscope assembly into various positions where cells were present, while with the desired level of accuracy. Continuing to autofocus on cells and collect Images of cells to a level where the desired characteristics could be determined