Biomedical robotics

The course is structured in the following parts:

• Robotic structure

• Robot Kinematics and Dynamics: Planar and Spatial Kinematics, Differential Kinematics; dynamics;

• Robot Control: Motion control and Force control

• Robotics for Biomedical Applications: Examples of robotics in biomedical applications, Teleoperation, Specific control/design aspects for biomedical robotics,

• Robot for minimally invasive surgery, design of robotic tools, human-machine interface

The goal of this course is to present the most important techniques for the design of robots used in the medical field.

Lectures: Ex cathedra lectures

Labs : The students will develop a robot control project in small groups (2-3 people) following realistic robotics scenario

Contribution to the teaching profile

This teaching unit contributes to the following competences:

• understand the main aspect of kinematics dynamic and control of surgical robot;

• develop a prototype of a realistic robot that could be used in a surgical theater for a realistic surgical treatment;

• understand and design a surgical robot, able to deal with all the costraint coming from the patient, the surgeon, the surgical theater and the regulamentation in the field;

References, bibliography, and recommended reading

L. Sciavicco, B. Siciliano, Modelling and Control of Robot Manipulators, 2nd Edition, Springer-Verlag Advanced Textbooks in Control and Signal Processing Series, London, UK, 2000; 1st Edition, McGraw-Hill, New York, NY, 1996. Also in Italian as Robotica Industriale – Modellistica e Controllo di Manipolatori , McGraw-Hill Libri Italia, Milano, I, 2nd Edition, 2000; 1st Edition, 1995.

Contacts

Prof. Emanuele Garone: egarone@ulb.ac.be
Prof. Bernardo Innocenti: Bernardo.Innocenti@ulb.be

Campus

Solbosch

Method(s) of evaluation

• Other

Other

Project Report, Project Results Presentation, a brief Oral Exam

Mark calculation method (including weighting of intermediary marks)

50% Laboratory

50% Theory

Language(s) of evaluation

• english