CEI348 Medical Robotics Syllabus:
CEI348 Medical Robotics Syllabus – Anna University Regulation 2021
OBJECTIVES:
1. To explain the basic concepts of robots and types of robots
2. To discuss the designing procedure of manipulators, actuators and grippers.
3. To impart knowledge on various types of sensors and power sources.
4. Explore various applications of Robots in Medicine.
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.
TOTAL : 45 PERIODS
SKILL DEVELOPMENT ACTIVITIES (Group Seminar/MiniProject/Assignment/Content Preparation / Quiz/ Surprise Test / Solving GATEquestions/ etc)
1. Compare PD and PID feedback actuator models.
2. Explore and compare the specifications of various Sensors and Actuators used in Medical robotics.
3. Find the wearable medical robots which are commercially available.
4. List out the recent trends in surgical robots and their advancements.
5. Develop a design methodology for wearable medical robots
TEXT BOOKS:
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. Shane (S.Q.) Xie, Advanced Robotics for Medical Rehabilitation – Current State of the Art and Recent Advances, Springer, 2016.
4. Jacob Rosen, Blake Hannaford & Richard M Satava, “Surgical Robotics: System Applications & Visions”, Springer 2011.
REFERENCES:
1. Fu.K.S, Gonzalez. R.C., Lee, C.S.G, “Robotics, control”, sensing, Vision and Intelligence, Tata McGraw Hill International, First edition, 2008.
2. Bruno Siciliano, Oussama Khatib, Springer Handbook of Robotics, 1st Edition, Springer, 2008.
3. Sashi S Kommu, Rehabilitation Robotics, I-Tech Education and Publishing, 2007.
4. Jose L. Pons, Wearable Robots: Biomechatronic Exoskeletons, John Wiley & Sons Ltd, England, 2008.
5. Howie Choset, Kevin Lynch, Seth Hutchinson, “Principles of Robot Motion: Theory, Algorithms, and Implementations”, Prentice Hall of India, First edition, 2005.
6. Philippe Coiffet, Michel Chirouze, “An Introduction to Robot Technology”, Tata McGraw Hill, First Edition, 1983.
7. Jocelyn Troccaz, Medical Robotics, Wiley, 2012.
8. Achim Schweikard, Floris Ernst, Medical Robotics, Springer, 2015.