MX4073 Medical Robotics Syllabus:
MX4073 Medical Robotics Syllabus – Anna University PG Syllabus Regulation 2021
COURSE OBJECTIVES:
To explain the basic concepts of robots and types of robots
To discuss the designing procedure of manipulators, actuators and grippers
To impart knowledge on various types of sensors and power sources
To explore various applications of Robots in Medicine
To impart knowledge on wearable robots
UNIT I INTRODUCTION TO ROBOTICS
Introduction to Robotics, Overview of robot subsystems, Degrees of freedom, configurations and concept of workspace, Dynamic Stabilization
Sensors and Actuators
Sensors and controllers, Internal and external sensors, position, velocity and acceleration sensors, Proximity sensors, force sensors Pneumatic and hydraulic actuators, Stepper motor control circuits, End effectors, Various types of Grippers, PD and PID feedback actuator models
UNIT II MANIPULATORS & BASIC KINEMATICS
Construction of Manipulators, Manipulator Dynamic and Force Control, Electronic and pneumatic manipulator, Forward Kinematic Problems, Inverse Kinematic Problems, Solutions of Inverse Kinematic problems
Navigation and Treatment Planning
Variable speed arrangements, Path determination – Machinery vision, Ranging – Laser – Acoustic, Magnetic, fiber optic and Tactile sensor
UNIT III SURGICAL ROBOTS
Da Vinci Surgical System, Image guided robotic systems for focal ultrasound based surgical applications, System concept for robotic Tele-surgical system for off-pump, CABG surgery, Urologic applications, Cardiac surgery, Neuro-surgery, Pediatric and General Surgery, Gynecologic Surgery, General Surgery and Nanorobotics. Case Study
UNIT IV REHABILITATION AND ASSISTIVE ROBOTS
Pediatric Rehabilitation, Robotic Therapy for the Upper Extremity and Walking, Clinical-Based Gait Rehabilitation Robots, Motion Correlation and Tracking, Motion Prediction, Motion Replication. Portable Robot for Tele rehabilitation, Robotic Exoskeletons – Design considerations, Hybrid assistive limb. Case Study
UNIT V WEARABLE ROBOTS
Augmented Reality, Kinematics and Dynamics for Wearable Robots, Wearable Robot technology, Sensors, Actuators, Portable Energy Storage, Human–robot cognitive interaction (cHRI), Human– robot physical interaction (pHRI), Wearable Robotic Communication – case study
COURSE OUTCOMES:
CO1: Describe the configuration, applications of robots and the concept of grippers and actuators
CO2: Explain the functions of manipulators and basic kinematics
CO3: Describe the application of robots in various surgeries
CO4: Design and analyze the robotic systems for rehabilitation
CO5: Design the wearable robots
REFERENCES
1. Nagrath and Mittal, “Robotics and Control”, Tata McGraw Hill, First edition, 2003
2. Spong and Vidhyasagar, “Robot Dynamics and Control”, John Wiley and Sons, First edition, 2008
3. Fu.K.S, Gonzalez. R.C., Lee, C.S.G, “Robotics, control”, sensing, Vision and Intelligence, Tata McGraw Hill International, First edition, 2008
4. Bruno Siciliano, Oussama Khatib, Springer Handbook of Robotics, 1st Edition, Springer, 2008
5. Shane (S.Q.) Xie, Advanced Robotics for Medical Rehabilitation – Current State of the Art and Recent Advances, Springer, 2016
6. Sashi S Kommu, Rehabilitation Robotics, I-Tech Education and Publishing, 2007
7. Jose L. Pons, Wearable Robots: Biomechatronic Exoskeletons, John Wiley & Sons Ltd, England, 2008
8. Howie Choset, Kevin Lynch, Seth Hutchinson, “Principles of Robot Motion: Theory, Algorithms, and Implementations”, Prentice Hall of India, First edition, 2005
9. Philippe Coiffet, Michel Chirouze, “An Introduction to Robot Technology”, Tata McGraw Hill, First Edition, 1983
10. Jacob Rosen, Blake Hannaford & Richard M Satava, “Surgical Robotics: System Applications & Visions”, Springer 2011
11. Jocelyn Troccaz, Medical Robotics, Wiley, 2012
12. Achim Schweikard, Floris Ernst, Medical Robotics, Springer, 2015