Course

• LO1: To impart basic understanding of robotics
• LO2: To enable understanding the design and control concepts of medical robots
• LO3: To comprehend on the application of robotics in the field of healthcare

• CO1: Ability to understand different types of Robotic Systems
• CO2: Ability to apply the concepts of robotics for surgery
• CO3: Ability to analyse the positioning and orientation of medical robots
• CO4: Ability to design the kinematics model for a specified robotic system

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.

1. Achim Schweikard and Floris Ernst, Medical Robotics, Springer, 2015.
2. VanjaBozovic, Medical Robotics, Springer, 2008.
3. Mark W. Spong, Seth Hutchinson, and M. Vidyasagar, Robot Modeling and Control, John Wiley & Sons, 2005.