CBM365 Robotics in Medicine Syllabus:

CBM365 Robotics in Medicine Syllabus – Anna University Regulation 2021

COURSE OBJECTIVES

The objective of this course is to enable the student to:
 Get introduced to the fundamental of robotics and position analysis
 Learn about Parallel robots, different types of motions and force analysis
 Know the basics of trajectory planning, Motion control systems and actuators
 Have an insight into various sensors and vision systems
 Be acquainted to Fuzzy control and Applications of Robotics in Medicine

UNIT I FUNDAMENTALS AND POSITION ANALYSIS

Fundamentals – Classification, Advantages and disadvantages, Components, Degrees of freedom, Joints, Coordinates, Reference frames, Programming modes, Characteristics, Workspace, Languages, Collaborative robots, Position analysis – Robots as mechanisms, Conventions, Transformations, Forward and inverse kinematics, Denavit Hartenberg Representation, Degeneracy and Dextrerity, Screw based robots, Position analysis of Articulated robot Case studies

UNIT II PARALLEL ROBOTS, DIFFERENTIAL MOTIONS AND FORCE ANALYSIS

Parallel robots – Physical characteristics, Forward and Inverse Kinematic approaches, Planar and Spatial parallel robots, Differential relationships, The Jacobian, Large scale motions, Frame vs Robot, Differential motions and change, Hand frame, Operator, Jacobian and Inverse for Screw based and Parallel Robots, Differential operator, Lagarangian mechanics, Moments of Inertia, Dynamic Equations of Multiple DOF Robots, Static force analysis, Transformation of forces and moments between coordinate framesCase studies

UNIT III TRAJECTORY PLANNING, MOTION CONTROL SYSTEMS AND ACTUATORS

Path and Trajectory, Joint Space and Cartesian Space Descriptions and Trajectory Planning, Cartesian, Trajectory Recording, Basics, Block diagrams, Laplace Transform, Block diagram Algebra, Transfer Functions, Characteristic equation, Steady state error, Root locus, Proportional, Integral and Derivative controllers, Compensators, Bode, Loops, Multiple IO systems, Control – State space and Digital, Nonlinear systems, Characteristics of Hydraulic, Pneumatic, Electric motors, Other actuators, Speed reductionCase studies

UNIT IV SENSORS, IMAGE PROCESSING AND ANALYSIS WITH VISION SYSTEMS

Sensor Characteristics, Position, Velocity, Acceleration, Force, Pressure and Torque, Microswitches, Visible and IR, Touch, Proximity, Range finders, Sniff, Vision, Transforms – Fourier, Hough, Resolution, Quantization, Sampling, Image processing, Segmentation, Region growing and splitting, Operations, Object recognition, Depth, Specialized lighting, Compression, Colour images, Heuristics,Case studies

UNIT V FUZZY CONTROL AND APPLICATIONS IN MEDICINE

Fuzzy control – Crisp vs Fuzzy, Sets, Inference rules, Defuzzification, Simulation, Applications in Biomedical Engineering, Applications in rehabilitation, Nanobots in medicine, Clinical diagnosis and Surgery – Cardiac and abdominal procedures with teleoperated robots, Orthopedic surgery with cooperative robotsCase studies

TOTAL: 45 PERIODS

COURSE OUTCOMES

Upon successful completion of the course, students will be able to
CO1: Describe the fundamental of robotics and position analysis
CO2: Outline the functioning of parallel robots, different types of motions and force analysis.
CO3: Portray the basics of trajectory planning, Motion control systems and actuators.
CO4: Recognize and explain the use of various sensors and vision systems in robotics.
CO5: Employ Fuzzy control in robotics and apply it to Robotics in Medicine

TEXT BOOKS

1. S. B. Niku, Introduction to Robotics, Analysis, Control, Applications, Pearson Education, 2020
2. Robert Schilling, Fundamentals of Robotics-Analysis and control, Prentice Hall of India, 2003.
3. Fu Gonzales and Lee, Robotics, McGraw Hill, 1987.
4. J Craig, Introduction to Robotics, Pearson Education, 2005.

REFERENCES

1. Grover, Wiess, Nagel and Oderey, Industrial Robotics, McGraw Hill, 2012.
2. Klafter, Chmielewski and Negin, Robot Engineering, Prentice Hall Of India, 1989.
3. Mittal, Nagrath, Robotics and Control, Tata McGraw Hill publications, 2003.
4. Bijay K. Ghosh, Ning Xi, T.J. Tarn, Control in Robotics and Automation Sensor – Based integration, Academic Press, 1999.
5. Mikell P. Groover, Mitchell Weiss, Industrial robotics, technology, Programming and Applications, McGraw Hill International Editions, 1986.
6. Richard D. Klafter, Thomas A. Chmielewski and Michael Negin, Robotic engineering – An Integrated Approach, Prentice Hall Inc, Englewoods Cliffs, NJ, USA, 1989.