Chapter 1 : Introduction to medical robotics. Assistive technologies, rehabilitation robotics, surgical robotics and robotics for diagnosis. Historical perspective.
Chapter 2: Design of Surgical Manipulators. Security issues. Manipulators with serial and parallel configurations. European directives. Minimally invasive surgery. Passive and active joints. Remote rotation center. Master-slave mechatronic systems. Da Vinci system.
Chapter 3: Motion control and force control in medical robotics. Motion Control: Joint space control and task space control. Force Control: Indirect force control (compliant control, impedance control) and direct force control (hybrid position/force control, external force control). 3) Kalman Active Observers. Design of null space / task space controllers for minimally invasive surgery.
Chapter 4: Haptic Telemanipulation. Haptic control architectures. Telepresence, stability and robustness analysis. Contact parameter estimation.
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.