Course

Unit 1

Introduction to Medical Robots: Introduction to Bio-medical robots, Types of Medical Robots, Navigation and paradigms of BioMedical Robots, Forward kinematics, Inverse, Typical applications and benefits of robots in Health care sectors

Design of Medical Robots: Characterization of gestures to the design of robot-design methodology- technological choices-security

Unit 2

Rehabilitation Robotics: Introduction, Exoskeletons-Design concepts, Development and control- Human hand-Biomechanics, Rehabilitation for Limbs-Brain-Machine-Interfaces, Redundancy resolution, Introduction to Rehabilitation Strategies, Robotic prosthetics. Mobile Robot locomotion: Types of locomotion and its salient characteristics of hopping robots, legged robots, wheeled robots, stability, aerial robots, maneuverability, controllability.

Unit 3

Current Topics in Bio-Medical Robotics: Haptic Augmentation in Exoskeletons, Robotic Catheters for percutaneous interventions, Unsupervised learning for mapping in Bio-Robots, Reven–II Robots. Future Trends of Robotics In the Medical Field. Mobile Robot localization and Navigation: Introduction, the challenges of localization, localization based navigation versus programmed solutions, map representation, probabilistic map, map based localization, autonomous map building. Planning and navigation: Planning and reaction, D* algorithm obstacle avoidance.

Course Outcomes:

CO1: Identify the fundamental parameters of medical and mobile robots and examine their typical applications.

CO2: Develop skills to design and implement robotic assistants for Minimally Invasive Surgery and Image-Guided Interventions and analyze key design parameters of medical robots.

CO3: Evaluate the parameters of rehabilitation systems, exoskeletons, and explore locomotion aspects of mobile robots.

CO4: Investigate recent developments and emerging trends in biomedical robots, and interpret localization and navigation techniques for mobile robots.

CO5: Analyze the core applications of specialized surgical robots and assess their advantages and limitations.

Textbooks / References:

1.      Paula Gomes, “Medical robotics- Minimally Invasive surgery”, Woodhead, 2012

2.      Jocelyne Troccaz, “Medical Robotics”, Wiley-ISTE, 2012. 2. VanjaBonzovic, ”Medical Robotics”, I-tech Education publishing,Austria,2008.

3.      Daniel Faust, “Medical Robots”, Rosen Publishers, 2016.

4.      Jacob Rosen, Blake Hannaford & Richard M Satava, “Surgical Robotics: System Applications & Visions”, Springer 2011.

5.      Paula Gomes, “Medical robotics: minimally invasive surgery”, Woodhead publishing, year 2012.