PROT0430-3 : Biomedical robotics and active prostheses

Study Programmes 2015-2016

PROT0430-3

Biomedical robotics and active prostheses

Duration :

15h Th, 10h Pr

Number of credits :

Master in biomedical engineering (120 ECTS)		2
Master in biomedical engineering (120 ECTS)		2
Master in mechanical engineering (120 ECTS)		2

Lecturer :

Olivier Bruls

Language(s) of instruction :

French language

Organisation and examination :

Teaching in the first semester, review in January

Units courses prerequisite and corequisite :

Prerequisite or corequisite units are presented within each program

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)
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 applications in the context of mini-invasive surgery, orthopaedic surgery, neurosurgery,radiotherapy,endovascular surgery,active prostheses or rehabilitation systems.

Learning outcomes of the course :

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

Prerequisite knowledge and skills :

basic mathematics
classical mechanics

Planned learning activities and teaching methods :

theoretical lectures
seminar by medical doctors and visits
practical work about a case study

Mode of delivery (face-to-face ; distance-learning) :

The course includes theoretical lectures, exercises sessions, one or two seminars by external guests, and an individual practical work.