Course Contents
Introduction to robots – Robots as mechanical devices – Classification of robotic manipulators – Robotic systems – Accuracy and repeatability – Wrists and end-effectors – Mathematical modelling of robots – Symbolic representation of robots – The configuration space – The state space – The workspace common kinematic arrangements of manipulators – Forward kinematics – Inverse kinematics – Velocity kinematics.
Medical robots – Robots for navigation – Movement replication – Robots for imaging – Rehabilitation and prosthetics – Describing spatial positioned orientation – Standardizing kinematic analysis – Computing joint angles – Quaternions – Robot kinematics -Three-joint robot – Six-joint robot.
Application of medical robots – The learning curve of robot – Assisted laparoscopic surgery – Haptic feedback in robotic heart surgery – Robotic applications in neurosurgery – Miniature robotic guidance for spine surgery.