ENME

ENME 489C – Medical Robotics

3 Credits

Instructor 

Textbook 

Robot Modeling and Control, by Mark W. Spong, Seth Hutchinson, and M. Vidyasagar.  Wiley Publishers. ISBN (10-digit): 0471649902; ISBN (13-digit): 978-0471649908, 2006. 

Prerequisites 

Corequisite: ENME 361

Description 

The evolution of robotics in surgery is a new and exciting development. Surgical robotics brings together many disparate areas of research such as development and modeling of robotic systems, design, control, safety in medical robotics, haptics (sense of touch), ergonomics in minimally invasive procedures, and last but not the least, surgery. The primary goal of this course is to acquaint the students with the fundamentals of robot design and control and different areas of research that lead to the development of medical robotic systems. As a result, the course will cover basic robot kinematics such as forward and inverse kinematics as well as velocity and acceleration analysis. If time permits, we will also cover additional topics such as medical image guidance. The course will include a project, where students will learn to develop, build, and control a medical robot.

Goals 

The primary goal of this course is to acquaint the students with the fundamentals of robot design and control and different areas of research that lead to the development of medical robotic systems.

Topics 

  • Review of Mathematical Preliminaries and Introduction to Medical Robotics 
  • Robot Forward Kinematics - Position, velocity, and acceleration analysis 
  • Robot Inverse Kinematics 
  • Manipulator Jacobian 
  • Introduction to Robot Dynamics
  • Introduction to medical image guidance
  • Medical robot design and control

Learning Outcomes 

  • an ability to apply knowledge of mathematics, science, and engineering
  • an ability to design and conduct experiments, as well as to analyze and interpret data
  • an ability to design a system, component, or process to meet desired needs within realistic constraints such as economic, environmental, social, political, ethical, health and safety, manufacturability, and sustainability
  • an ability to function on multi-disciplinary teams
  • an ability to identify, formulate, and solve engineering problems
  • an understanding of professional and ethical responsibility
  • an ability to communicate effectively
  • the broad education necessary to understand the impact of engineering solutions in a global, economic, environmental, and societal context
  • a recognition of the need for, and an ability to engage in life-long learning
  • a knowledge of contemporary issues
  • an ability to use the techniques, skills, and modern engineering tools necessary for engineering practice
  • an ability to work professionally in both thermal and mechanical systems areas

Class/Laboratory Schedule 

  • Two 75 min lecture session per week

Last Updated By 
Axel Krieger, July 2017