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| PROT0430-3 | Biomedical robotics and active prostheses
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| Duration : | 15h Th, 10h Pr |
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| Number of credits : |
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| Lecturer : | Olivier Bruls |
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Language(s) of instruction :
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| French language |
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Organisation and examination :
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| Teaching in the first semester, review in January |
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Course contents :
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| 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)
- introduction to the kinematics of open-chain robots and of 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)
The lectures are illustrated with case studies in the context of mini-invasive surgery, orthopaedic surgery, neurosurgery,radiotherapy,endovascular surgery,active prostheses or rehabilitation systems. |
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Learning outcomes of the course :
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- 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
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Prerequisites and co-requisites/ Recommended optional programme components :
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- basic mathematics
- classical mechanics
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Planned learning activities and teaching methods :
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- theoretical lectures
- seminar by medical doctors and visits
- practical work about a case study
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Mode of delivery (face-to-face ; distance-learning) :
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| The course includes theoretical lectures, exercises sessions, one or two seminars by external guests, and an individual practical work. |
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Recommended or required readings :
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| Slides: the slides will be made available on MyULg |
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Assessment methods and criteria :
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| Three elements will be considered for the evaluation
- the theory exam (oral, 50%)
- the practical work (report and oral presentation, 50%)
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Work placement(s) :
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Organizational remarks :
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Contacts :
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| Olivier BRULS (o.bruls@ulg.ac.be) |
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