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).
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.