Medical Robotics
2023/24
Information
| schedule |
Monday 15:15-18:00, A7, via Ariosto
25; students of the Master in Biomedical Engineering (MBIR)
Tuesday 14:00-16:00, A5, via Ariosto 25; all students (not
mandatory for MBIR students)
Friday 08:00-11:00, A4, via Ariosto 25; all students
|
lectures period
|
Friday, 1st March - Friday, 31st May 2024
|
course website
|
e-MR
on the Sapienza e-learning platform
|
instructor e-mail |
vendittelli [at] diag [dot] uniroma1
[dot] it |
Audience
Students
of the Master in Artificial Intelligence and Robotics, Control
Engineering and Biomedical Engineering,
Sapienza Università
di Roma.
Objective
Introduction to the applications of
robotic technologies in the medical context, with particular emphasis
on surgical robotics.
Expected learning results: knowledge of the main robotic surgical
systems and of the challenges and methodologies involved in medical robots design
and control.
Expected competence in:
- critically reading a
scientific paper describing medical robotics technologies;
- discussing in detail
the state of the art of robotics applications in medicine;
- estimating potential
benefits deriving from the introduction of robotic technologies in a
medical procedure;
- arguing the
development of a particular technology not yet available or
experimentally validated;
- communicating and
collaborating with people with different technical background;
- evaluating clinical,
social and economical constraints in implementing a robotic technology
in a medical context;
- control design for
medical robots: physical-interaction control, teleoperation,
constrained manipulation, shared execution of surgical tasks;
- design and
developemtns of simulation systems for planning, training, augmentation
of medical procedures;
- safety and regulatory
aspects involved in the introduction of robotic systems in medical
procedures.
Contents
Course contents vary on a yearly basis. The list reported below includes the core topics treated during the course.
- Introduction to the
course
- Historical perspective
and surgical systems overview
- Classification of
surgical systems supported by robots
- Kinematic design of
medical robots
Control
modalities of medical robots vs their domain of use
Physical interaction control: basic principles and case studies
Shared control and virtual fixtures
Virtual
fixtures: examples of application
Constrained manipulation and constrained targeting: task
control with Remote Center of Motion (RCM) constraint
Teleoperation
1: general principles
Teleoperation
2: the 4-channel architecture, transparency and stability
Visual
servoing: concept and mathematical formulation for monocular cameras
Visual
servoing for medical procedures assisted by robots
Principles of medical imaging (ultrasound, TC, MR)
Applications
of visual servoing
autonomous
retrieval and positioning of surgical tools
3D
ultrasound-guided needle steering
Optimization
of Ultrasound Image Quality via Visual Servoing
Automatic
Tracking of an Organ Section with US
Introduction
to haptics
Haptic
rendering
Case study: needle-tissue
interaction force identification and haptic rendering in teleoperated
needle insertion
Introduction
and formulation of the problem
Case
study: robot registration in a robot-assisted superficial hyperthermia system
- Exoskeletons and
biomechanics of walking
Exoskeletons:
introductory concepts and examples
Human
gait analysis
Case study: comparative
gait analysis
on twins for childrens affected by
celebral palsy
the da Vinci Research Kit (dVRK)
kinematic simulator
the dVRK dynamic simulator
visuo-haptic interaction with virtual patients
General
concepts
Synthetic description of the IEC 80601-2-77 (safety of robotically
assisted surgical equipment and systems)
European
Regulation on Medical Devices
The AI act and the healthcare technologies
- Integration of AI
methods
Temperature
estimation of internal body targets from superficial measurements
Simulation of deformable structures
- Hands-on sessions
decided yearly
For details
and material, access the course
site in Sapienza e-learning environment.
Prerequisites
A general
background in robotics (kinematics, dynamics, control), as
given in Robotics
1 and Robotics
2 and is highly recommended.
Grading
To
obtain 6 credits for Medical Robotics there are two alternative exam
modalities:
- usually requiring programming
- work done in groups of 3-4 students
- necessary condition for project assignment:
2 homeworks assigned during the course
must be completed with grade at least equal to B
- wheight on the final grade
project: 90%
homeworks: 10%
- written exam plus oral
discussion
examples of written exam text are
available in e-MR
oral discussion can involve any topic in
the program
Master
Theses at the Robotics
Laboratory
Master
Theses on the topics
studied in this course can be discussed directly with the instructor.
Questions/comments: vendittelli [at] diag [dot]
uniroma1 [dot] it