 | |
| PROT0430-2 | Biomedical robotics and active prostheses
 |
|
| Duration : | 30h Th, 30h Pr |
|
| Credits/ECTS : |
|
|
| Holder(s) : | Olivier Bruls |
|
| Language : | French language |
|
| Course contents : | Introduction
- robotics in medical applications
- computer-assisted surgery
- prosthesis, assistance and revalidation systems
Part 1 : elements of robotics
- general concepts (number of dofs, workspace, serial or parallel architectures)
- robots technology (sensors, actuators, transmissions, control systems)
- kinematics of open-chain robots (Denavit-Hartenberg method, Jacobi matrix, velocity analysis, force transmission)
- parallel kinematics mechanisms
Part 2 : computer assisted surgery
- Pre-operative modelling and planning: geometric and physical modelling of the patient, operation simulation and planning, trajectory programming
- Sensors, localization and registration: sensors in biomedical applications, patient localization, registration and pre-operative robot positioning, augmented reality and image superposition techniques
- Actuation and control: actuation modes (pre-programmed motions, teleoperation, « hands-on » cooperative systems), motion control (anti-tremor systems, virtual fixture, security problems)
Part 3 : case study
- mini-invasive surgery
- orthopaedic surgery
- neurosurgery
- radiotherapy
- endovascular surgery
- active prostheses
- revalidation systems
- ...
|
|
| Course objective : |
- study of basic concepts in robotics
- study of mechanical and mechatronic systems used in biomedical applications
- understanding of the advantages and drawbacks of those systems, as well as the challenges for future technological developments
|
|
| Prerequisites : |
- basic mathematics
- classical mechanics
|
|
| Workshops : | The theoretical lectures will be supported by a few exercise sessions. In addition, the students will have to realize a practical work (in group) about a case study. |
|
| Organization : | The course includes theoretical lectures, exercises sessions, one or two seminars by external guests, and a practical work by groups of two students. |
|
| Written notes : | Slides: a PDF version of the slides will be updated on WebCT |
|
| Assessment : | Three elements will be considered for the evaluation
- the exercise exam (written, 20%)
- the theory exam (written, 30%)
- the practical work (report and oral presentation, 50%)
|
|
| Contacts : | Olivier BRULS (o.bruls@ulg.ac.be) |
|
|
| |
