Design of control architectures for robotic-assisted minimally invasive surgery. Design of control architectures for robotic-assisted tele-medicine. Evaluation of medical robots.
Chapter 1 : Introduction to medical robotics. Assistive technologies, rehabilitation robotics, surgical robotics and robotics for diagnosis. Historical perspective and state of art. Future perspectives.
Chapter 2: Design of Surgical Manipulators. Security issues at both hardware and software. Manipulators with serial and parallel configurations. Specific kinematic restrictions. European directives. Minimally invasive surgery. Gruebler formula. Passive and active joints. Remote rotation center. Magic parallelogram. Master-slave mechatronic systems. Examples (Da Vinci system).
Chapter 3: Motion control and force control in medical robotics. Motion Control: 1) Joint space control. 2) Task space control (PID control, non-linear feedback linearization, inverse dynamics control, centralized and decentralized control). Force Control: 1) Indirect force control (compliant control, impedance control). 2) Direct force control (hybrid position/force control, external force control).
Generic skills to reach
. Competence in analysis and synthesis; . Competence to solve problems; . Critical thinking; . Creativity; . Research skills; . Competence in understanding the language of other specialists; . Competence in autonomous learning; (by decreasing order of importance)
Teaching hours per semester
total of teaching hours
assessment implementation in 20192020 Assessment Exam: 40.0% Report with experimental demonstration of the mini-project: 60.0%
Bibliography of reference
? Khalil, W, Dombre E. (2002), Modeling, Identification and Control of Robots, HPS.
? Sciavicco and Siciliano (2000), Modeling and Control of Robot Manipulators, Springer.
? Cortesão, R. (2012) ? Medical Robotics Course, DEEC-FCTUC.
Theoretical classes with detailed presentation, using audiovisual means, of the concepts, principles and fundamental theories and solving basic practical exercises to illustrate the practical interest of discussed topics.
Laboratory classes are for implementing a mini-project addressing robot control for medical applications.
Evaluation consists of a final exam covering all course materials (40%) and a report with experimental demonstration of the mini-project (60%).
Dispositivos hapticos e manipuladores robóticos redundantes ultra-leves.