2023-2024 / PROT0430-3

Biomedical robotics and active prostheses


15h Th, 10h Pr

Number of credits

 Master of Science (MSc) in Biomedical Engineering3 crédits 
 Master of Science (MSc) in Mechanical Engineering (EMSHIP+, Erasmus Mundus) (Odd years, organized in 2023-2024) 3 crédits 


Olivier Bruls

Language(s) of instruction

English language

Organisation and examination

Teaching in the first semester, review in January


Schedule online

Units courses prerequisite and corequisite

Prerequisite or corequisite units are presented within each program

Learning unit contents


  • 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 learning unit

  • 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
This course contributes to the learning outcomes II.1, II.2, III.1, V.1, V.2, VI.1, VII.1, VII.2, VII.3, VII.4, VII.5, VII.6 of the MSc in biomedical engineering.

This course contributes to the learning outcomes II.1, II.2, III.1, IV.3, IV.4, IV.7, IV.8, V.1, V.2, VI.1, VII.1, VII.2, VII.3, VII.4, VII.5, VII.6 of the MSc in mechanical engineering.

Prerequisite knowledge and skills

  • basic mathematics
  • classical mechanics

Planned learning activities and teaching methods

  • theoretical lectures
  • visit of a medical center
  • practical work about a case study

Mode of delivery (face to face, distance learning, hybrid learning)

Face-to-face course

Additional information:

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

Recommended or required readings

Slides: the slides will be made available on MyULiege

Exam(s) in session

Any session

- In-person

written exam ( open-ended questions )

Written work / report

Additional information:

Three elements will be considered for the evaluation

  • the written theory exam (oral, 50%)
  • the practical work (report and oral presentation, 50%)

Work placement(s)

Organisational remarks and main changes to the course

The lectures are organized in English.
The course is organized in 2021-2022 but will not be organized in 2022-2023.


Olivier BRULS (o.bruls@uliege.be)

Association of one or more MOOCs